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Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

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

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
This commit is contained in:
Yuval Tassa
2024-06-16 10:01:31 -07:00
committed by Copybara-Service
parent 739512a0e4
commit 6067048537
33 changed files with 233 additions and 117 deletions
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doc/changelog.rst
+5 -3
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@@ -23,12 +23,14 @@ General
3. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
4. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
5. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
6. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
:ref:`mju_mulMatTVec3`. These functions names and argument ordering are more consistent with the rest of the API.
MJX
~~~
6. Added support for :ref:`elliptic friction cones<option-cone>`.
7. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
8. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
7. Added support for :ref:`elliptic friction cones<option-cone>`.
8. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
9. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
Version 3.1.6 (Jun 3, 2024)
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