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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_vis_visualize.c
+9 -9
View File
@@ -668,7 +668,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// offset xpos with aabb center (not always at frame origin)
const mjtNum *center = isleaf ? m->geom_aabb + 6*geomid : m->bvh_aabb + 6*i;
mjtNum pos[3];
mju_rotVecMat(pos, center, xmat);
mju_mulMatVec3(pos, xmat, center);
mju_addTo3(pos, xpos);
// set box color
@@ -755,7 +755,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// offset xpos with aabb center (not always at geom origin)
const mjtNum *center = m->bvh_aabb + 6*i;
mjtNum pos[3];
mju_rotVecMat(pos, center, xmat);
mju_mulMatVec3(pos, xmat, center);
mju_addTo3(pos, xpos);
START
@@ -830,7 +830,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
START
// compute selection point in world coordinates
mju_rotVecMat(selpos, pert->localpos, d->xmat+9*pert->select);
mju_mulMatVec3(selpos, d->xmat+9*pert->select, pert->localpos);
mju_addTo3(selpos, d->xpos+3*pert->select);
// construct geom
@@ -873,7 +873,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (m->body_bvhnum[i]) {
mjtNum* aabb = m->bvh_aabb+6*m->body_bvhadr[i];
mju_copy3(sz, aabb+3);
mju_rotVecMat(pos, aabb, d->ximat+9*i);
mju_mulMatVec3(pos, d->ximat+9*i, aabb);
}
// otherwise box of size meansize
@@ -946,7 +946,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
int i=0;
// compute selection point in world coordinates
mju_rotVecMat(selpos, pert->localpos, d->xmat+9*pert->select);
mju_mulMatVec3(selpos, d->xmat+9*pert->select, pert->localpos);
mju_addTo3(selpos, d->xpos+3*pert->select);
START
@@ -2030,9 +2030,9 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (d->eq_active[i] && (m->eq_type[i] == mjEQ_CONNECT || m->eq_type[i] == mjEQ_WELD)) {
// compute endpoints in global coordinates
int j = m->eq_obj1id[i], k = m->eq_obj2id[i];
mju_rotVecMat(vec, m->eq_data+mjNEQDATA*i+3*(m->eq_type[i] == mjEQ_WELD), d->xmat+9*j);
mju_mulMatVec3(vec, d->xmat+9*j, m->eq_data+mjNEQDATA*i+3*(m->eq_type[i] == mjEQ_WELD));
mju_addTo3(vec, d->xpos+3*j);
mju_rotVecMat(end, m->eq_data+mjNEQDATA*i+3*(m->eq_type[i] == mjEQ_CONNECT), d->xmat+9*k);
mju_mulMatVec3(end, d->xmat+9*k, m->eq_data+mjNEQDATA*i+3*(m->eq_type[i] == mjEQ_CONNECT));
mju_addTo3(end, d->xpos+3*k);
// construct geom
@@ -2636,7 +2636,7 @@ void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, cons
// compute translation
mjtNum translate[3];
mju_rotVecMat(translate, bindpos, rotate);
mju_mulMatVec3(translate, rotate, bindpos);
mju_sub3(translate, d->xpos+3*bodyid, translate);
// process all bone vertices
@@ -2656,7 +2656,7 @@ void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, cons
// transform
mjtNum pos1[3];
mju_rotVecMat(pos1, pos, rotate);
mju_mulMatVec3(pos1, rotate, pos);
mju_addTo3(pos1, translate);
// accumulate position