From 4b8454b79c1dfc7c2b0ae2c5ad84cf6c9b3995c5 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 18 Sep 2025 08:12:39 -0700
Subject: [PATCH] Add semicolons after `mjSORT` macro calls.

PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
---
 cmake/MujocoOptions.cmake            | 1 +
 sample/cmake/SampleOptions.cmake     | 1 +
 simulate/cmake/SimulateOptions.cmake | 1 +
 src/engine/engine_collision_driver.c | 4 ++--
 4 files changed, 5 insertions(+), 2 deletions(-)

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