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_primitive.c

@@ -219,7 +219,7 @@ int mjc_PlaneBox(const mjModel* m, const mjData* d,
 
     // get corner in global coordinates relative to box center
     mjtNum corner[3];
-    mju_rotVecMat(corner, vec, mat2);
+    mju_mulMatVec3(corner, mat2, vec);
 
     // compute distance to plane, skip if too far or pointing up
     mjtNum ldist = mju_dot3(norm, corner);