No longer modify control vector in-place, add mju_clip.

- Never modify `d->ctrl`:
  - `ctrl` values which are outside their respective `ctrlrange` are clamped internally, but `d->ctrl` itself is unmodified.
  - Similarly, if `mjWARN_BADCTRL` is raised (NaNs or huge values), `ctrl` is cleared internally, but `d->ctrl` itself is unmodified.
- `mjWARN_BADCTRL` is no longer raised for `d->ctrl` values that are larger in absolute value than `mjMAXVAL`, if clamping makes them smaller than that.
- Added `mju_clip()` utility function.
- Added missing warning string for `case mjWARN_BADCTRL`.

PiperOrigin-RevId: 459025950
Change-Id: Ifbf974f9c02c3d70afdaa3114018fc81dfd746d3

src/engine/engine_vis_visualize.c

@@ -806,9 +806,9 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
         // clamp act to extended range
         if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
-          act = mjMIN(rng[2], mjMAX(rng[0], d->act[i-(m->nu-m->na)]));
+          act = mju_clip(d->act[i-(m->nu-m->na)], rng[0], rng[2]);
         } else {
-          act = mjMIN(rng[2], mjMAX(rng[0], d->ctrl[i]));
+          act = mju_clip(d->ctrl[i], rng[0], rng[2]);
         }
 
         // compute interpolants