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

src/engine/engine_collision_driver.c

@@ -553,7 +553,7 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
     for (int i=0; i < 2; i++) {  // bounding boxes
       for (int j=0; j < 3; j++) {  // axes
         if (xmat[i]) {
-          mju_rotVecMat(xcenter[i], aabb[i], xmat[i]);
+          mju_mulMatVec3(xcenter[i], xmat[i], aabb[i]);
         } else {
           mju_copy3(xcenter[i], aabb[i]);
         }