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_derivative.c

@@ -320,7 +320,7 @@ void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
     if (Dvel || Dscale) Dvel_[i] = b*eye[i] + c*cross[i] + d*outer[i];
   }
   if (Dvel) mju_copy(Dvel, Dvel_, 9);
-  if (Dscale) mju_rotVecMat(Dscale, vel, Dvel_);
+  if (Dscale) mju_mulMatVec3(Dscale, Dvel_, vel);
 }