Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs

PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb

src/engine/engine_collision_driver.c

@@ -1012,7 +1012,7 @@ static inline int SAPcmp(mjtSAP* obj1, mjtSAP* obj2, void* context) {
 }
 
 // define SAPsort function for sorting SAP sorting
-mjSORT(SAPsort, mjtSAP, SAPcmp)
+mjSORT(SAPsort, mjtSAP, SAPcmp);
 
 
 // given list of axis-aligned bounding boxes in AAMM (xmin[3], xmax[3]) format,

src/engine/engine_sensor.c

@@ -56,7 +56,7 @@ static int ContactInfoCompare(const ContactInfo* a, const ContactInfo* b, void*
 
   return 0;
 }
-mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare)
+mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare);
 
 
 // apply cutoff after each stage

src/engine/engine_sort.h

@@ -70,7 +70,7 @@
       tmp = src; src = dest; dest = tmp;                                                           \
     }                                                                                              \
     if (src != arr) memcpy(arr, src, n * sizeof(type));                                            \
-  }
+  } static inline void name(type* arr, type* buf, int n, void* context)
 
 
 // sub-macro that sifts down a node in a max heap to its correct position
@@ -106,6 +106,6 @@
     /* copy back and sort the result */                                                            \
     for (int j = 0; j < k; j++) arr[j] = buf[j];                                                   \
     _mjINSERTION_SORT(type, arr, 0, k, cmp, context);                                              \
-  }
+  } static inline void name(type* arr, type* buf, int n, int k, void* context)
 
 #endif  // MUJOCO_SRC_ENGINE_ENGINE_SORT_H_