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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.

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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
This commit is contained in:
Kyle Bayes
2023-03-09 13:50:39 -08:00
committed by Copybara-Service
parent 2e6a37e8c5
commit d3d789cf7d
33 changed files with 177 additions and 184 deletions
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src/engine/engine_support.c
+6 -8
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@@ -267,7 +267,7 @@ void mj_jacSparse(const mjModel* m, const mjData* d,
// make sure we found it; SHOULD NOT OCCUR
if (chain[ci]!=da) {
mju_error_i("dof index %d not found in chain", da);
mju_error("dof index %d not found in chain", da);
}
// construct rotation jacobian
@@ -1083,7 +1083,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
// make sure body is in range
if (body<0 || body>=m->nbody) {
mju_error_i("Invalid body %d in applyFT", body);
mju_error("Invalid body %d in applyFT", body);
}
// compute Jacobians
@@ -1158,7 +1158,7 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
// object without spatial frame
else {
mju_error_i("Invalid object type %d in mj_objectVelocity", objtype);
mju_error("Invalid object type %d in mj_objectVelocity", objtype);
}
// transform velocity
@@ -1211,7 +1211,7 @@ void mj_objectAcceleration(const mjModel* m, const mjData* d,
// object without spatial frame
else {
mju_error_i("Invalid object type %d in mj_objectAcceleration", objtype);
mju_error("Invalid object type %d in mj_objectAcceleration", objtype);
}
// transform com-based velocity to local frame
@@ -1416,11 +1416,10 @@ void mj_setTotalmass(mjModel* m, mjtNum newmass) {
// count warnings, print only the first time
void mj_warning(mjData* d, int warning, int info) {
char str[1000];
// check type
if (warning<0 || warning>=mjNWARNING) {
mju_error_i("Invalid warning type %d", warning);
mju_error("Invalid warning type %d", warning);
}
// save info (override previous)
@@ -1428,8 +1427,7 @@ void mj_warning(mjData* d, int warning, int info) {
// print message only the first time this warning is encountered
if (!d->warning[warning].number) {
mjSNPRINTF(str, "%s Time = %.4f.", mju_warningText(warning, info), d->time);
mju_warning(str);
mju_warning("%s Time = %.4f.", mju_warningText(warning, info), d->time);
}
// increase counter