Renamed mjs_fullInertia to mjuu_fullInertia and moved it to user_util.

PiperOrigin-RevId: 644769379
Change-Id: I83511eeb4c0972ce9f46f0e3443d438cccdd4d9f

src/user/user_objects.cc

@@ -91,42 +91,6 @@ static bool islimited(int limited, const double range[2]) {
   return false;
 }
 
-// compute frame quat and diagonal inertia from full inertia matrix, return error if any
-const char* FullInertia(double quat[4], double inertia[3], const double fullinertia[6]) {
-  if (!mjuu_defined(fullinertia[0])) {
-    return nullptr;
-  }
-
-  double eigval[3], eigvec[9], quattmp[4];
-  double full[9] = {
-    fullinertia[0], fullinertia[3], fullinertia[4],
-    fullinertia[3], fullinertia[1], fullinertia[5],
-    fullinertia[4], fullinertia[5], fullinertia[2]
-  };
-
-  mjuu_eig3(eigval, eigvec, quattmp, full);
-
-  // check mimimal eigenvalue
-  if (eigval[2]<mjEPS) {
-    return "inertia must have positive eigenvalues";
-  }
-
-  // copy
-  if (quat) {
-    for (int i=0; i<4; i++) {
-      quat[i] = quattmp[i];
-    }
-  }
-
-  if (inertia) {
-    for (int i=0; i<3; i++) {
-      inertia[i] = eigval[i];
-    }
-  }
-
-  return nullptr;
-}
-
 
 
 // fetches cached image from PNG asset, returns nullopt if not available
@@ -1360,7 +1324,7 @@ void mjCBody::GeomFrame(void) {
 
     // compute principal axes of inertia
     mjuu_copyvec(fullinertia, toti, 6);
-    const char* errq = FullInertia(iquat, inertia, fullinertia);
+    const char* errq = mjuu_fullInertia(iquat, inertia, fullinertia);
     if (errq) {
       throw mjCError(this, "error '%s' in alternative for principal axes", errq);
     }
@@ -1429,7 +1393,7 @@ void mjCBody::Compile(void) {
   }
 
   // check and process orientation alternatives for inertia
-  const char* ierr = FullInertia(iquat, inertia, this->fullinertia);
+  const char* ierr = mjuu_fullInertia(iquat, inertia, this->fullinertia);
   if (ierr) {
     throw mjCError(this, "error '%s' in inertia alternative", ierr);
   }