To anyone experienced with using jcodec, my understanding is that the library cannot yet encode audio (it can decode it, however).
However, jcodec does have a PCMMP4MuxerTrack class which allows you to addSamples(ByteBuffer) of raw PCM data to an audio track while encoding your MP4 video. This produces an MP4 video file with sound.
I've successfully added some dummy PCM audio to an MP4 file that I exported and VLC played it properly, so it seems to work...
But if this worked, why do I keep seeing people say that MP4 doesn't support PCM audio (one source)?
Am I just getting lucky that VLC is accurately playing my MP4 file with sound? Would it potentially not work on other players/operating systems?