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)