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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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src/engine/engine_core_constraint.c
+2 -2
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@@ -511,7 +511,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
case mjEQ_CONNECT: // connect bodies with ball joint
// find global points
for (int j=0; j < 2; j++) {
mju_rotVecMat(pos[j], data + 3*j, d->xmat + 9*id[j]);
mju_mulMatVec3(pos[j], d->xmat + 9*id[j], data + 3*j);
mju_addTo3(pos[j], d->xpos + 3*id[j]);
}
@@ -532,7 +532,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
// find global points
for (int j=0; j < 2; j++) {
mjtNum* anchor = data + 3*(1-j);
mju_rotVecMat(pos[j], anchor, d->xmat + 9*id[j]);
mju_mulMatVec3(pos[j], d->xmat + 9*id[j], anchor);
mju_addTo3(pos[j], d->xpos + 3*id[j]);
}