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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_util_blas.c
+18 -4
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@@ -152,8 +152,8 @@ mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]) {
// multiply vector by 3D rotation matrix
void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
// multiply 3-by-3 matrix by vector
void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
mjtNum tmp[3] = {
mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2],
mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2],
@@ -166,8 +166,8 @@ void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
// multiply vector by transposed 3D rotation matrix
void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
// multiply transposed 3-by-3 matrix by vector
void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
mjtNum tmp[3] = {
mat[0]*vec[0] + mat[3]*vec[1] + mat[6]*vec[2],
mat[1]*vec[0] + mat[4]*vec[1] + mat[7]*vec[2],
@@ -180,6 +180,20 @@ void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
// multiply vector by 3D rotation matrix (deprecated)
void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
mju_mulMatVec3(res, mat, vec);
}
// multiply vector by transposed 3D rotation matrix (deprecated)
void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
mju_mulMatTVec3(res, mat, vec);
}
// multiply 3x3 matrices,
void mju_mulMatMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
res[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6];