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_util_misc.c

@@ -858,7 +858,7 @@ int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[
 
   // vector from pos to point, projected to box frame
   mjtNum vec[3] = {point[0]-pos[0], point[1]-pos[1], point[2]-pos[2]};
-  mju_rotVecMatT(vec, vec, mat);
+  mju_mulMatTVec3(vec, mat, vec);
 
   // big: inflated box
   mjtNum big[3] = {size[0], size[1], size[2]};