Add engine internal error macro mjERROR to prepend calling function to error function.

PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a

src/engine/engine_collision_convex.c

@@ -191,7 +191,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
     break;
 
   default:
-    mju_error("ccd support function is undefined for geom type %d", m->geom_type[g]);
+    mjERROR("ccd support function is undefined for geom type %d", m->geom_type[g]);
   }
 
   // add dir*margin/2 to result