diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
index 62e15012..e9bfc04c 100644
--- a/cmake/MujocoOptions.cmake
+++ b/cmake/MujocoOptions.cmake
@@ -93,6 +93,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
+      -Wgnu-empty-initializer
   )
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
index 62e15012..e9bfc04c 100644
--- a/sample/cmake/SampleOptions.cmake
+++ b/sample/cmake/SampleOptions.cmake
@@ -93,6 +93,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
+      -Wgnu-empty-initializer
   )
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
index 62e15012..e9bfc04c 100644
--- a/simulate/cmake/SimulateOptions.cmake
+++ b/simulate/cmake/SimulateOptions.cmake
@@ -93,6 +93,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
+      -Wgnu-empty-initializer
   )
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 16400838..1b1e9c4e 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -222,8 +222,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int b1, int b2,
   const mjtNum* bvh2 = m->bvh_aabb + 6 * bvhadr2;
   const int* child1 = m->bvh_child + 2 * bvhadr1;
   const int* child2 = m->bvh_child + 2 * bvhadr2;
-  mjtNum product[36] = {};  // 2 bb x 2 bb x 3 axes (body) x 3 axes (world)
-  mjtNum offset[12] = {};   // 2 bb x 2 bb x 3 axes (world)
+  mjtNum product[36];  // 2 bb x 2 bb x 3 axes (body) x 3 axes (world)
+  mjtNum offset[12];   // 2 bb x 2 bb x 3 axes (world)
   mjtByte initialize = 1;
 
   mjMARKSTACK;
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index c0d041bf..f05cf443 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -757,7 +757,7 @@ int mjCBody::MakeBVH(std::vector<mjCGeom *>& elements, int lev) {
     mjtNum vert[3] = {elements[i]->pos[0] - ipos[0],
                       elements[i]->pos[1] - ipos[1],
                       elements[i]->pos[2] - ipos[2]};
-    mjtNum lpos[3] = {};
+    mjtNum lpos[3];
     mju_rotVecQuat(lpos, vert, qinv);
     pos[i] = lpos[axis];
   }
@@ -776,7 +776,7 @@ int mjCBody::MakeBVH(std::vector<mjCGeom *>& elements, int lev) {
     mjtNum vert[3] = {elements[i]->pos[0] - ipos[0],
                       elements[i]->pos[1] - ipos[1],
                       elements[i]->pos[2] - ipos[2]};
-    mjtNum lpos[3] = {};
+    mjtNum lpos[3];
     mju_rotVecQuat(lpos, vert, qinv);
 
     // skip visual objects