Fix type errors in compiler and tests.

In preparation for a float32 build of MuJoCo.

PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e

src/user/user_util.h

@@ -41,15 +41,23 @@ void mjuu_setvec(float* dest, const double x, const double y, const double z);
 // set 2D vector
 void mjuu_setvec(double* dest, const double x, const double y);
 
-// copy double array
-void mjuu_copyvec(double* dest, const double* src, const int n);
+// copy real-valued vector
+template <class T1, class T2>
+void mjuu_copyvec(T1* dest, const T2* src, int n) {
+  for (int i=0; i<n; i++) {
+    dest[i] = (T1)src[i];
+  }
+}
 
-// copy float array
-void mjuu_copyvec(float* dest, const float* src, const int n);
+// add to double array
+void mjuu_addtovec(double* dest, const double* src, const int n);
 
 // zero array
 void mjuu_zerovec(double* dest, const int n);
 
+// zero float array
+void mjuu_zerovec(float* dest, const int n);
+
 // dot-product in 3D
 double mjuu_dot3(const double* a, const double* b);
 
@@ -62,6 +70,7 @@ double mjuu_L1(const double* a, const double* b, int n);
 // normalize vector to unit length, return previous length
 //  if norm(vec)<mjEPS, return 0 and do not change vector
 double mjuu_normvec(double* vec, const int n);
+float mjuu_normvec(float* vec, const int n);
 
 // convert quaternion to rotation matrix
 void mjuu_quat2mat(double* res, const double* quat);
@@ -69,9 +78,12 @@ void mjuu_quat2mat(double* res, const double* quat);
 // multiply two unit quaternions
 void mjuu_mulquat(double* res, const double* qa, const double* qb);
 
-// multiply vector by matrix, 3-by-3
+// multiply matrix by vector, 3-by-3
 void mjuu_mulvecmat(double* res, const double* vec, const double* mat);
 
+// multiply transposed matrix by vector, 3-by-3
+void mjuu_mulvecmatT(double* res, const double* vec, const double* mat);
+
 // compute res = R * M * R'
 void mjuu_mulRMRT(double* res, const double* R, const double* M);
 
@@ -127,19 +139,19 @@ void mjuu_offcenter(double* res, const double mass, const double* vec);
 // compute viscosity coefficients from mass and inertia
 void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl=1);
 
+// rotate vector by quaternion
+void mjuu_rotVecQuat(double res[3], const double vec[3], const double quat[4]);
+
 // update moving frame along a discrete curve or initialize it, returns edge length
-//   inputs:
-//     normal    - normal vector computed by a previous call to the function
-//     edge      - edge vector (non-unit tangent vector)
-//     tprv      - unit tangent vector of previous body
-//     tnxt      - unit tangent vector of next body
-//     first     - 1 if the frame requires initialization
-//   outputs:
-//     quat      - frame orientation
-//     normal    - unit normal vector
-double mju_updateFrame(double quat[4], double normal[3], const double edge[3],
+double mjuu_updateFrame(double quat[4], double normal[3], const double edge[3],
                        const double tprv[3], const double tnxt[3], int first);
 
+// eigenvalue decomposition of symmetric 3x3 matrix
+int mjuu_eig3(double eigval[3], double eigvec[9], double quat[4], const double mat[9]);
+
+// transform vector by pose
+void mjuu_trnVecPose(double res[3], const double pos[3], const double quat[4], const double vec[3]);
+
 // strip path from filename
 std::string mjuu_strippath(std::string filename);