Enable compiler errors for implicit switch case fallthroughs.

Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405

simulate/CMakeLists.txt

@@ -104,19 +104,13 @@ endif()
 add_library(platform_ui_adapter OBJECT)
 target_sources(
   platform_ui_adapter
-  PUBLIC glfw_adapter.h
-         glfw_dispatch.h
-         platform_ui_adapter.h
-  PRIVATE glfw_adapter.cc
-          glfw_dispatch.cc
-          platform_ui_adapter.cc
+  PUBLIC glfw_adapter.h glfw_dispatch.h platform_ui_adapter.h
+  PRIVATE glfw_adapter.cc glfw_dispatch.cc platform_ui_adapter.cc
 )
 target_compile_options(platform_ui_adapter PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
 target_include_directories(
-  platform_ui_adapter
-  PUBLIC
-  ${CMAKE_CURRENT_SOURCE_DIR}
-  $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
+  platform_ui_adapter PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+                             $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
 )
 target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
 if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
@@ -131,8 +125,7 @@ add_library(mujoco::libsimulate ALIAS libsimulate)
 target_sources(
   libsimulate
   PUBLIC simulate.h
-  PRIVATE simulate.cc
-          array_safety.h
+  PRIVATE simulate.cc array_safety.h
 )
 target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})

simulate/array_safety.h

@@ -73,7 +73,16 @@ static inline int sprintf_arr(char (&dest)[N], const char* format, ...) {
 // dest is guaranteed to be null-terminated
 template <std::size_t N>
 static inline char* strcat_arr(char (&dest)[N], const char* src) {
-  return std::strncat(dest, src, sizeof_arr(dest) - strlen_arr(dest) - 1);
+  const std::size_t dest_len = strlen_arr(dest);
+  const std::size_t dest_size = sizeof_arr(dest);
+  for (std::size_t i = dest_len; i < dest_size; ++i) {
+    dest[i] = src[i - dest_len];
+    if (!dest[i]) {
+      break;
+    }
+  }
+  dest[dest_size - 1] = '\0';
+  return dest;
 }
 
 // like std::strcpy but won't write beyond the bound of dest

simulate/cmake/SimulateOptions.cmake

@@ -85,15 +85,19 @@ include(MujocoLinkOptions)
 get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
-  set(EXTRA_COMPILE_OPTIONS -Wall -Werror)
+  set(EXTRA_COMPILE_OPTIONS
+      -Werror
+      -Wall
+      -Wimplicit-fallthrough
+      -Wunused
+      -Wno-int-in-bool-context
+      -Wno-sign-compare
+      -Wno-unknown-pragmas
+  )
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    # TODO: This should add to EXTRA_COMPILE_OPTIONS rather than overwrite it.
-    set(EXTRA_COMPILE_OPTIONS
-        -Wno-int-in-bool-context
-        -Wno-maybe-uninitialized
-        -Wno-sign-compare
-        -Wno-stringop-overflow
-        -Wno-stringop-truncation
+    # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
+    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
+                              -Wno-maybe-uninitialized
     )
   endif()
 endif()