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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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include/mujoco/mujoco.h
+8 -2
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@@ -970,10 +970,16 @@ MJAPI mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
// Return Cartesian distance between 3D vectors pos1 and pos2.
MJAPI mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
// Multiply vector by 3D rotation matrix: res = mat * vec.
// Multiply 3-by-3 matrix by vector: res = mat * vec.
MJAPI void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
// Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.
MJAPI void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
// Deprecated, use mju_mulMatVec3(res, mat, vec).
MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
// Multiply vector by transposed 3D rotation matrix: res = mat' * vec.
// Deprecated, use mju_mulMatTVec3(res, mat, vec).
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
// Compute cross-product: res = cross(a, b).