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_support.c

@@ -1882,7 +1882,7 @@ void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
   if (xpos && pos) {
     // compute
     if (sameframe == 0) {
-      mju_rotVecMat(xpos, pos, d->xmat+9*body);
+      mju_mulMatVec3(xpos, d->xmat+9*body, pos);
       mju_addTo3(xpos, d->xpos+3*body);
     }