diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
index de146d89..05658b74 100644
--- a/cmake/MujocoOptions.cmake
+++ b/cmake/MujocoOptions.cmake
@@ -92,6 +92,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
+      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
index de146d89..05658b74 100644
--- a/sample/cmake/SampleOptions.cmake
+++ b/sample/cmake/SampleOptions.cmake
@@ -92,6 +92,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
+      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
index de146d89..05658b74 100644
--- a/simulate/cmake/SimulateOptions.cmake
+++ b/simulate/cmake/SimulateOptions.cmake
@@ -92,6 +92,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
+      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 0a1f9920..ab324e6e 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -257,7 +257,7 @@ static inline int contactcompare(const mjContact* c1, const mjContact* c2, void*
 }
 
 // define contactSort function for sorting contacts
-mjSORT(contactSort, mjContact, contactcompare)
+mjSORT(contactSort, mjContact, contactcompare);
 
 
 
@@ -1139,7 +1139,7 @@ static inline int uintcmp(int* i, int* j, void* context) {
 }
 
 // define bfsort function for sorting bodyflex pairs
-mjSORT(bfsort, int, uintcmp)
+mjSORT(bfsort, int, uintcmp);
 
 
 // broadphase collision detector