Simple alternative to String.format().

This purposefully supports only a small handful of substitutions to
improve execution speed.  Benchmarking reveals this optimized
alternative performs 6.5x faster for a typical format string.

Add Preconditions overloads that accept varargs to avoid string
formatting overhead in successful case.

Bug: 170978902
Test: atest FrameworksCoreTests:android.text.TextUtilsTest
Test: ./frameworks/base/libs/hwui/tests/scripts/prep_generic.sh little && atest CorePerfTests:android.text.TextUtilsPerfTest
Change-Id: I3fae4dc95cfc98a61c4a7f07ca0781c4a2ee3be9