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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_passive.c
+4 -4
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@@ -371,8 +371,8 @@ void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i) {
mju_abs(lvel[2])*lvel[2]/64.0;
}
// rotate to global orientation: lfrc -> bfrc
mju_rotVecMat(bfrc, lfrc, d->ximat+9*i);
mju_rotVecMat(bfrc+3, lfrc+3, d->ximat+9*i);
mju_mulMatVec3(bfrc, d->ximat+9*i, lfrc);
mju_mulMatVec3(bfrc+3, d->ximat+9*i, lfrc+3);
// apply force and torque to body com
mj_applyFT(m, d, bfrc+3, bfrc, d->xipos+3*i, i, d->qfrc_fluid);
@@ -431,8 +431,8 @@ void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
mju_scl(lfrc, lfrc, geom_interaction_coef, 6);
// rotate to global orientation: lfrc -> bfrc
mju_rotVecMat(bfrc, lfrc, d->geom_xmat + 9*geomid);
mju_rotVecMat(bfrc+3, lfrc+3, d->geom_xmat + 9*geomid);
mju_mulMatVec3(bfrc, d->geom_xmat + 9*geomid, lfrc);
mju_mulMatVec3(bfrc+3, d->geom_xmat + 9*geomid, lfrc+3);
// apply force and torque to body com
mj_applyFT(m, d, bfrc+3, bfrc,