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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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plugin/sdf/sdf.cc
+3 -3
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@@ -80,7 +80,7 @@ void SdfVisualizer::Visualize(const mjModel* m, const mjData* d,
mjtNum* geom_quat = m->geom_quat + 4*g;
mju_quat2Mat(geom_mat, geom_quat);
mju_mulMatMatT(rotation, geom_xmat, geom_mat, 3, 3, 3);
mju_rotVecMat(offset, geom_pos, rotation);
mju_mulMatVec3(offset, rotation, geom_pos);
mju_sub3(offset, geom_xpos, offset);
for (int i = 0; i < niter; i++) {
@@ -97,9 +97,9 @@ void SdfVisualizer::Visualize(const mjModel* m, const mjData* d,
mjvGeom* thisgeom = scn->geoms + scn->ngeom;
mjtNum* p1 = points + (tot + (k == 0 ? (n-1) * j : j))*3;
mjtNum* p2 = points + (tot + j + 1)*3;
mju_rotVecMat(from, p1, rotation);
mju_mulMatVec3(from, rotation, p1);
mju_addTo3(from, offset);
mju_rotVecMat(to, p2, rotation);
mju_mulMatVec3(to, rotation, p2);
mju_addTo3(to, offset);
if (k == 0) {
float rgba[4] = {static_cast<float>(j > 0), 0,