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

test/CMakeLists.txt

@@ -21,7 +21,13 @@ macro(mujoco_test name)
   set(options)
   set(oneValueArgs)
   set(multiValueArgs PROPERTIES)
-  cmake_parse_arguments(_ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+  cmake_parse_arguments(
+    _ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
 
   add_executable(${name} ${name}.cc)
   target_link_libraries(${name} gtest_main mujoco)

test/user/CMakeLists.txt

@@ -19,7 +19,12 @@ mujoco_test(user_objects_test)
 target_link_libraries(user_objects_test fixture gmock)
 
 mujoco_test(user_mesh_test)
-target_link_libraries(user_mesh_test fixture gmock absl::str_format)
+target_link_libraries(
+  user_mesh_test
+  fixture
+  gmock
+  absl::str_format
+)
 
 mujoco_test(user_composite_test)
 target_link_libraries(user_composite_test fixture gmock)

test/xml/xml_native_writer_test.cc

@@ -917,8 +917,8 @@ TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
   mj_deleteModel(model);
 
   // Test that MuJoCo doesn't override locales for subsequent calls.
-  char formatted[7];
-  std::snprintf(formatted, sizeof(formatted), "%f", 3.9375);
+  char formatted[8];
+  std::snprintf(formatted, sizeof(formatted), "%.4f", 3.9375);
   EXPECT_EQ(std::string(formatted), "3,9375");
 }