Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.

PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06

doc/APIreference/functions.rst

@@ -1841,7 +1841,7 @@ mju_error_i
 
 .. mujoco-include:: mju_error_i
 
-Error function with int argument; msg is a printf format string.
+Deprecated: use mju_error
 
 .. _mju_error_s:
 
@@ -1850,7 +1850,7 @@ mju_error_s
 
 .. mujoco-include:: mju_error_s
 
-Error function with string argument.
+Deprecated: use mju_error
 
 .. _mju_warning:
 
@@ -1868,7 +1868,7 @@ mju_warning_i
 
 .. mujoco-include:: mju_warning_i
 
-Warning function with int argument.
+Deprecated: use mju_warning
 
 .. _mju_warning_s:
 
@@ -1877,7 +1877,7 @@ mju_warning_s
 
 .. mujoco-include:: mju_warning_s
 
-Warning function with string argument.
+Deprecated: use_mju_warning
 
 .. _mju_clearHandlers:
 

doc/changelog.rst

@@ -16,6 +16,8 @@ General
   For instance, the constraint Jacobian matrix from the `humanoid100.xml
   <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously required
   ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
+- Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
+  functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
 
 
 

doc/includes/references.h

@@ -2041,10 +2041,10 @@ void mjui_update(int section, int item, const mjUI* ui,
                  const mjuiState* state, const mjrContext* con);
 mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
 void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
-void mju_error(const char* msg);
+void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 void mju_error_i(const char* msg, int i);
 void mju_error_s(const char* msg, const char* text);
-void mju_warning(const char* msg);
+void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
 void mju_warning_i(const char* msg, int i);
 void mju_warning_s(const char* msg, const char* text);
 void mju_clearHandlers(void);

doc/programming/simulation.rst

@@ -724,16 +724,13 @@ triggers an error. It also keeps track of the maximum stack allocation; see :ref
 Errors, warnings, memory allocation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-When a terminal error occurs, MuJoCo calls the function :ref:`mju_error` internally. This function has a single argument
-which is the error message. The helper functions :ref:`mju_error_i` and :ref:`mju_error_s` are also used, but they
-simply construct the error message using a printf format string and an additional integer or string argument, and then
-call mju_error. Here is what mju_error does:
+When a terminal error occurs, MuJoCo calls the function :ref:`mju_error` internally. Here is what mju_error does:
 
 #. Append the error message at the end of the file MUJOCO_LOG.TXT in the program directory (create the file if it does
    not exist). Also write the date and time along with the error message.
-#. If the user error callback :ref:`mju_user_error` is installed, call that function
-   with the error message as argument. Otherwise printf the error message, printf "Press Enter to exit...", getchar()
-   and exit(1).
+#. If the user error callback :ref:`mju_user_error` is installed, call that function with the error message as
+   argument. Otherwise, print the error message and "Press Enter to exit..." to standard output. Then wait for any
+   keyboard input, and then terminate the simulator with failure.
 
 If a user error callback is installed, it must **not** return, otherwise the behavior of the simulator is undefined.
 The idea here is that if mju_error is called, the simulation cannot continue and the user is expected to make some
@@ -988,4 +985,4 @@ of mass of the kinematic tree). Such a rotation will not only rotate the body bu
 spatial vector must have non-zero linear velocity to compensate for the side-effect of rotation around an off-body
 axis. If you call mj_objectVelocity, the resulting 6D quantity will be represented in a frame that is centered at the
 body and aligned with the world. Thus the linear component will now be zero as expected. This function will also put
-translation in front of rotation, which is our convention for local and global coordinates.
+translation in front of rotation, which is our convention for local and global coordinates.