Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.

PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5

cmake/MujocoOptions.cmake

@@ -88,8 +88,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   set(EXTRA_COMPILE_OPTIONS
       -Werror
       -Wall
+      -Wpedantic
       -Wimplicit-fallthrough
       -Wunused
+      -Wvla
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
@@ -100,15 +102,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
                               -Wno-maybe-uninitialized
     )
   endif()
-  if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC)
-    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wgnu-empty-initializer)
-  endif()
-endif()
-
-if(WIN32)
-  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
 endif()
 
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
+
+if(WIN32)
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
+endif()

doc/includes/references.h

@@ -2318,7 +2318,7 @@ const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attr
 void mj_loadPluginLibrary(const char* path);
 void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
 int mj_version(void);
-const char* mj_versionString();
+const char* mj_versionString(void);
 void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
                  const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
                  int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
@@ -2575,12 +2575,12 @@ void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
                        mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
 void mjp_defaultPlugin(mjpPlugin* plugin);
 int mjp_registerPlugin(const mjpPlugin* plugin);
-int mjp_pluginCount();
+int mjp_pluginCount(void);
 const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
 const mjpPlugin* mjp_getPluginAtSlot(int slot);
 void mjp_defaultResourceProvider(mjpResourceProvider* provider);
 int mjp_registerResourceProvider(const mjpResourceProvider* provider);
-int mjp_resourceProviderCount();
+int mjp_resourceProviderCount(void);
 const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
 const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
 mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);

include/mujoco/mujoco.h

@@ -488,7 +488,7 @@ MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoad
 MJAPI int mj_version(void);
 
 // Return the current version of MuJoCo as a null-terminated string.
-MJAPI const char* mj_versionString();
+MJAPI const char* mj_versionString(void);
 
 
 //---------------------------------- Ray collisions ------------------------------------------------
@@ -1278,7 +1278,7 @@ MJAPI void mjp_defaultPlugin(mjpPlugin* plugin);
 MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
 
 // Return the number of globally registered plugins.
-MJAPI int mjp_pluginCount();
+MJAPI int mjp_pluginCount(void);
 
 // Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.
 MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
@@ -1295,7 +1295,7 @@ MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider);
 MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
 
 // Return the number of globally registered resource providers.
-MJAPI int mjp_resourceProviderCount();
+MJAPI int mjp_resourceProviderCount(void);
 
 // Return the resource provider with the prefix that matches against the resource name.
 // If no match, return NULL.

sample/cmake/SampleOptions.cmake

@@ -88,8 +88,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   set(EXTRA_COMPILE_OPTIONS
       -Werror
       -Wall
+      -Wpedantic
       -Wimplicit-fallthrough
       -Wunused
+      -Wvla
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
@@ -100,15 +102,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
                               -Wno-maybe-uninitialized
     )
   endif()
-  if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC)
-    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wgnu-empty-initializer)
-  endif()
-endif()
-
-if(WIN32)
-  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
 endif()
 
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
+
+if(WIN32)
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
+endif()

simulate/cmake/SimulateOptions.cmake

@@ -88,8 +88,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   set(EXTRA_COMPILE_OPTIONS
       -Werror
       -Wall
+      -Wpedantic
       -Wimplicit-fallthrough
       -Wunused
+      -Wvla
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
@@ -100,15 +102,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
                               -Wno-maybe-uninitialized
     )
   endif()
-  if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC)
-    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wgnu-empty-initializer)
-  endif()
-endif()
-
-if(WIN32)
-  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
 endif()
 
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
+
+if(WIN32)
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
+endif()

src/engine/engine_crossplatform.c

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+void _mj_crossplatform_void(void) {}  // ISO C does not permit empty translation units
+
 #if defined(__APPLE__) && defined(__AVX__)
 
 #include <stdio.h>
@@ -23,7 +25,7 @@ __attribute__((weak, visibility("default"))) void _mj_rosettaError(const char* m
   __asm__ __volatile__ ("ud2");  // raises SIGILL but leave this function at the top of the stack
 }
 
-__attribute__((constructor(10000), target("no-avx"))) static void _mj_checkRosetta() {
+__attribute__((constructor(10000), target("no-avx"))) static void _mj_checkRosetta(void) {
   int is_translated = 0;
   {
     size_t len = sizeof(is_translated);

src/engine/engine_plugin.h

@@ -32,10 +32,10 @@ MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
 MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
 
 // return the number of globally registered plugins
-MJAPI int mjp_pluginCount();
+MJAPI int mjp_pluginCount(void);
 
 // return the number of globally registered resource providers
-MJAPI int mjp_resourceProviderCount();
+MJAPI int mjp_resourceProviderCount(void);
 
 // look up a plugin by name, optionally also get its registered slot number
 MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);

src/engine/engine_support.c

@@ -14,10 +14,13 @@
 
 #include "engine/engine_support.h"
 
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
-#include "engine/engine_array_safety.h"
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_crossplatform.h"
 #include "engine/engine_io.h"
@@ -1056,7 +1059,7 @@ void mj_makeMSparse(const mjModel* m, mjData* d, mjtNum* M,
     }
 
     // backward pass over dofs: construct M_row(i) in reverse order
-    int col = M_rowadr[i]; // current column in row i
+    int col = M_rowadr[i];  // current column in row i
     for (int j = i; j >= 0; j = m->dof_parentid[j]) {
       M[col] = d->qM[Madr++];
       M_colind[col++] = j;
@@ -1584,7 +1587,7 @@ int mj_version(void) {
 
 
 // current version of MuJoCo as a null-terminated string
-const char* mj_versionString() {
+const char* mj_versionString(void) {
   static const char versionstring[] = mjVERSIONSTRING;
   return versionstring;
 }

src/engine/engine_support.h

@@ -15,9 +15,12 @@
 #ifndef MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
 #define MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
 
+#include <stdint.h>
+
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -197,7 +200,7 @@ MJAPI void mj_warning(mjData* d, int warning, int info);
 MJAPI int mj_version(void);
 
 // current version of MuJoCo as a null-terminated string
-MJAPI const char* mj_versionString();
+MJAPI const char* mj_versionString(void);
 #ifdef __cplusplus
 }
 #endif

src/engine/engine_util_errmem.c

@@ -70,7 +70,7 @@ typedef void (*callback_fn)(const char*);
 static mjTHREADLOCAL callback_fn _mjPRIVATE_tls_error_fn = NULL;
 static mjTHREADLOCAL callback_fn _mjPRIVATE_tls_warning_fn = NULL;
 
-callback_fn _mjPRIVATE__get_tls_error_fn() {
+callback_fn _mjPRIVATE__get_tls_error_fn(void) {
   return _mjPRIVATE_tls_error_fn;
 }
 
@@ -78,7 +78,7 @@ void _mjPRIVATE__set_tls_error_fn(callback_fn h) {
   _mjPRIVATE_tls_error_fn = h;
 }
 
-callback_fn _mjPRIVATE__get_tls_warning_fn() {
+callback_fn _mjPRIVATE__get_tls_warning_fn(void) {
   return _mjPRIVATE_tls_warning_fn;
 }
 
@@ -113,20 +113,17 @@ void mju_writeLog(const char* type, const char* msg) {
   }
 }
 
-void mju_error_v(const char* msg, va_list args) {
-  char errmsg[1000];
 
-  // Format msg into errmsg
-  vsnprintf(errmsg, mjSIZEOFARRAY(errmsg), msg, args);
 
+void mju_error_raw(const char* msg) {
   if (_mjPRIVATE_tls_error_fn) {
-    _mjPRIVATE_tls_error_fn(errmsg);
+    _mjPRIVATE_tls_error_fn(msg);
   } else if (mju_user_error) {
-    mju_user_error(errmsg);
+    mju_user_error(msg);
   } else {
     // write to log and console
-    mju_writeLog("ERROR", errmsg);
+    mju_writeLog("ERROR", msg);
-    printf("ERROR: %s\n\nPress Enter to exit ...", errmsg);
+    printf("ERROR: %s\n\nPress Enter to exit ...", msg);
 
     // pause, exit
     getchar();
@@ -135,6 +132,16 @@ void mju_error_v(const char* msg, va_list args) {
 }
 
 
+
+void mju_error_v(const char* msg, va_list args) {
+  // Format msg into errmsg
+  char errmsg[1024];
+  vsnprintf(errmsg, mjSIZEOFARRAY(errmsg), msg, args);
+  mju_error_raw(errmsg);
+}
+
+
+
 // write message to logfile and console, pause and exit
 void mju_error(const char* msg, ...) {
   va_list args;
@@ -147,7 +154,7 @@ void mju_error(const char* msg, ...) {
 
 // write message to logfile and console
 void mju_warning(const char* msg, ...) {
-  char wrnmsg[1000];
+  char wrnmsg[1024];
 
   // Format msg into wrnmsg
   va_list args;

src/engine/engine_util_errmem.h

@@ -18,6 +18,7 @@
 #include <stdarg.h>
 #include <stddef.h>
 #include <stdio.h>
+#include <string.h>
 
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmacro.h>
@@ -31,8 +32,8 @@ extern "C" {
     #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
   #else
     #define mjPRINTFLIKE(n, m)
-  #endif // __GNUC__
+  #endif  // __GNUC__
-#endif // mjPRINTFLIKE
+#endif  // mjPRINTFLIKE
 
 
 //------------------------------ user handlers -----------------------------------------------------
@@ -54,6 +55,7 @@ MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
 //------------------------------ errors and warnings -----------------------------------------------
 
 // errors
+MJAPI void mju_error_raw(const char* msg);
 MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 MJAPI void mju_error_v(const char* msg, va_list args);
 MJAPI void mju_error_i(const char* msg, int i);
@@ -69,42 +71,15 @@ MJAPI void mju_writeLog(const char* type, const char* msg);
 
 //------------------------------ internal error macros --------------------------------------------
 
-// need at least c99 or c++11
+// internal macro to prepend the calling function name to the error message
-#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) ||       \
+#define mjERROR(...)                                                          \
-    (defined(__cplusplus) && __cplusplus >= 201103L)
+{                                                                             \
-
+  char _errbuf[1024];                                                         \
-  // macro to get the first argument
+  size_t _funclen = strlen(__func__);                                         \
-  #define _GET_MSG(msg, ...) msg
+  strncpy(_errbuf, __func__, sizeof(_errbuf));                                \
-
+  snprintf(_errbuf + _funclen, sizeof(_errbuf) - _funclen, ": " __VA_ARGS__); \
-  // helper function for the mjERROR macro
+  mju_error_raw(_errbuf);                                                     \
-  // formats buf as '{prefix}: {msg}' and passes along to mju_error_v
+}
-  static inline void _mju_error_prefix(char *buf, size_t nbuf, const char* prefix,
-                                       const char* msg, ...) mjPRINTFLIKE(4, 5);
-
-  static inline void _mju_error_prefix(char *buf, size_t nbuf, const char* prefix,
-                                       const char* msg, ...) {
-    snprintf(buf, nbuf, "%s: %s", prefix, msg);
-    va_list args;
-    va_start(args, msg);
-    mju_error_v(buf, args);
-    va_end(args);
-  }
-
-  // macro to get first argument
-  #define _GET_MSG(msg, ...) msg
-
-  // internal macro to prepend the calling function name to the error message
-  // standard support for variadic macros with zero arguments is only now
-  // supported in C23 and C++20 so we rely on a helper function to get around this
-  // in a portable way
-  #define mjERROR(...) {                                                \
-    char _buf[sizeof(_GET_MSG(__VA_ARGS__)) + sizeof(__func__) + 1];    \
-    _mju_error_prefix(_buf, sizeof(_buf), __func__, __VA_ARGS__);       \
-  }
-
-#else
-  #define mjERROR mju_error
-#endif  // c99 or c++11
 
 //------------------------------ malloc and free ---------------------------------------------------
 

src/render/glad/glad.c

@@ -36,6 +36,11 @@
 // Online:
 //     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#endif
+
 #if !defined(_WIN32) && !defined(__CYGWIN__) && !defined(__APPLE__) && \
     !defined(__HAIKU__) && !defined(_GNU_SOURCE)
 #define _GNU_SOURCE
@@ -1471,12 +1476,12 @@ static void mjGlad_find_coreGL(void) {
   }
 }
 
-int mjGladLoadGLUnsafe() {
+int mjGladLoadGLUnsafe(void) {
-  if(mjGlad_open_gl()) {
+  if (mjGlad_open_gl()) {
     mjGLVersion.major = 0; mjGLVersion.minor = 0;
     glGetString = (PFNGLGETSTRINGPROC)mjGlad_get_proc("glGetString");
-    if(glGetString == NULL) return 0;
+    if (glGetString == NULL) return 0;
-    if(glGetString(GL_VERSION) == NULL) return 0;
+    if (glGetString(GL_VERSION) == NULL) return 0;
     mjGlad_find_coreGL();
     mjGlad_load_GL_VERSION_1_0(mjGlad_get_proc);
     mjGlad_load_GL_VERSION_1_1(mjGlad_get_proc);
@@ -1496,3 +1501,7 @@ int mjGladLoadGLUnsafe() {
     return 0;
   }
 }
+
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif

src/render/render_context.c

@@ -140,7 +140,7 @@ static void makePlane(const mjModel* m, mjrContext* con) {
 
             // record
             grid[k][x] = left;
-            grid[k][x+1] = mjMAX(left, right); // just in case
+            grid[k][x+1] = mjMAX(left, right);  // just in case
           }
         }
 
@@ -1458,7 +1458,7 @@ void GLAPIENTRY debugCallback(GLenum source,
 
 
 // returns 1 if MUJOCO_GL_DEBUG environment variable is set to 1
-static int glDebugEnabled() {
+static int glDebugEnabled(void) {
   char* debug = getenv("MUJOCO_GL_DEBUG");
   return debug && strcmp(debug, "1") == 0;
 }

src/user/user_mesh.cc

@@ -13,12 +13,14 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <array>
 #include <cmath>
 #include <csetjmp>
 #include <cstddef>
 #include <cstdio>
 #include <cstring>
 #include <memory>
+#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
@@ -27,11 +29,27 @@
 #define TINYOBJLOADER_IMPLEMENTATION
 #endif
 
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
+#pragma clang diagnostic ignored "-Wnested-anon-types"
+#elif defined(__GNUC__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#endif
 #include <MC.h>
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#elif defined(__GNUC__)
+#pragma GCC diagnostic pop
+#endif
+
+#include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
 #include <mujoco/mjplugin.h>
-#include "cc/array_safety.h"
 #include "engine/engine_crossplatform.h"
+#include "engine/engine_plugin.h"
 #include "engine/engine_resource.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
@@ -1838,7 +1856,6 @@ mjCSkin::~mjCSkin() {
 
 // compiler
 void mjCSkin::Compile(const mjVFS* vfs) {
-
   // load file
   if (!file.empty()) {
     // make sure data is not present

src/user/user_objects.cc

@@ -14,22 +14,22 @@
 
 #include "user/user_objects.h"
 
+#include <algorithm>
 #include <cmath>
 #include <cstddef>
 #include <cstdlib>
 #include <cstring>
-#include <iostream>
 #include <sstream>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include "lodepng.h"
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mjtnum.h>
 #include "cc/array_safety.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_crossplatform.h"
 #include "engine/engine_resource.h"
 #include "engine/engine_io.h"
 #include "engine/engine_passive.h"
@@ -131,7 +131,7 @@ mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos
 // constructor
 mjCAlternative::mjCAlternative() {
   axisangle[0] = xyaxes[0] = zaxis[0] = euler[0] = fullinertia[0] = mjNAN;
-};
+}
 
 
 // compute frame orientation given alternative specifications
@@ -1514,7 +1514,6 @@ void mjCGeom::SetFluidCoefs(void) {
 
   // get semiaxes
   switch (type) {
-
     case mjGEOM_SPHERE:
       dx = size[0];
       dy = size[0];
@@ -4497,7 +4496,6 @@ mjCKey::~mjCKey() {
 
 // compiler
 void mjCKey::Compile(const mjModel* m) {
-
   // qpos: allocate or check size
   if (qpos.empty()) {
     qpos.resize(m->nq);
@@ -4572,7 +4570,6 @@ void mjCKey::Compile(const mjModel* m) {
   } else if (ctrl.size()!=m->nu) {
     throw mjCError(this, "key %d: invalid ctrl size, expected length %d", nullptr, id, m->nu);
   }
-
 }
 
 

test/engine/engine_util_errmem_test.cc

@@ -23,7 +23,7 @@
 namespace mujoco {
 namespace {
 
-constexpr int kBufferSize = 1000;
+constexpr int kBufferSize = 1024;
 
 char* ErrorMessageBuffer() {
   static char error_message[kBufferSize] = "";
@@ -132,5 +132,13 @@ TEST_F(MujocoErrorAndWarningTest, MjuWarningS) {
   EXPECT_EQ(std::string(WarningMessageBuffer()), expected_message);
 }
 
+TEST_F(MujocoErrorAndWarningTest, MjuErrorInternal) {
+  ClearErrorMessage();
+  mjERROR("foobar %d", 123);
+  std::string funcname(__func__);
+  ASSERT_TRUE(funcname.length());
+  EXPECT_EQ(std::string(ErrorMessageBuffer()), funcname + ": foobar 123");
+}
+
 }  // namespace
 }  // namespace mujoco

unity/Runtime/Bindings/MjBindings.cs

@@ -3369,6 +3369,10 @@ public static unsafe extern void mj_loadPluginLibrary([MarshalAs(UnmanagedType.L
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern int mj_version();
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+[return: MarshalAs(UnmanagedType.LPStr)]
+public static unsafe extern string mj_versionString();
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_multiRay(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* dist, int nray, double cutoff);