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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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test/engine/engine_ray_test.cc
+2 -2
View File
@@ -296,8 +296,8 @@ mjtNum _rayMesh(const mjModel* m, const mjData* d, int geomid,
mjtNum lpnt[3], lvec[3];
const mjtNum* pos = d->geom_xpos+3*geomid;
const mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]};
mju_rotVecMatT(lpnt, dif, d->geom_xmat+9*geomid);
mju_rotVecMatT(lvec, vec, d->geom_xmat+9*geomid);
mju_mulMatTVec3(lpnt, d->geom_xmat+9*geomid, dif);
mju_mulMatTVec3(lvec, d->geom_xmat+9*geomid, vec);
// construct basis vectors of normal plane
mjtNum b0[3] = {1, 1, 1}, b1[3];
test/engine/engine_util_spatial_test.cc
+1 -1
View File
@@ -115,7 +115,7 @@ void RotVecQuatWithMatrix(mjtNum res[3], const mjtNum vec[3],
} else {
mjtNum mat[9];
mju_quat2Mat(mat, quat);
mju_rotVecMat(res, vec, mat);
mju_mulMatVec3(res, mat, vec);
}
}