Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508

STYLEGUIDE.md

@@ -116,7 +116,7 @@ before the `else`:
     else {
       mjtNum mat[9];
       mju_quat2Mat(mat, quat);
-      mju_rotVecMat(res, vec, mat);
+      mju_mulMatVec3(res, mat, vec);
     }
   }
   ```