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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/user/user_mesh.cc
+2 -2
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@@ -1271,7 +1271,7 @@ void mjCMesh::ApplyTransformations() {
// process vertices
for (int i=0; i < nvert(); i++) {
mjtNum p1[3], p0[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
mju_rotVecMatT(p1, p0, mat);
mju_mulMatTVec3(p1, mat, p0);
vert_[3*i] = (float) p1[0];
vert_[3*i+1] = (float) p1[1];
vert_[3*i+2] = (float) p1[2];
@@ -1280,7 +1280,7 @@ void mjCMesh::ApplyTransformations() {
// process normals
for (int i=0; i < nnormal(); i++) {
mjtNum n1[3], n0[3] = {normal_[3*i], normal_[3*i+1], normal_[3*i+2]};
mju_rotVecMatT(n1, n0, mat);
mju_mulMatTVec3(n1, mat, n0);
normal_[3*i] = (float) n1[0];
normal_[3*i+1] = (float) n1[1];
normal_[3*i+2] = (float) n1[2];