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

test/engine/engine_util_spatial_test.cc

@@ -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);
   }
 }