Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
PiperOrigin-RevId: 689405782 Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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159f23e6b4
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a3ea01e57e
@@ -3142,24 +3142,6 @@ mju_mulMatTVec3
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Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.
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.. _mju_rotVecMat:
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mju_rotVecMat
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~~~~~~~~~~~~~
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.. mujoco-include:: mju_rotVecMat
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Deprecated, use mju_mulMatVec3(res, mat, vec).
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.. _mju_rotVecMatT:
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mju_rotVecMatT
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~~~~~~~~~~~~~~
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.. mujoco-include:: mju_rotVecMatT
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Deprecated, use mju_mulMatTVec3(res, mat, vec).
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.. _mju_cross:
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mju_cross
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+2
-1
@@ -9,6 +9,7 @@ General
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^^^^^^^
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- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
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:ref:`inertia<asset-mesh-inertia>` attribute.
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- Removed the deprecated ``mju_rotVecMat`` and ``mju_rotVecMatT`` functions.
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MJX
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^^^
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@@ -214,7 +215,7 @@ General
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3. Calls to :ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
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:ref:`mj_deleteVFS` must be called to deallocate any internal allocated memory.
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4. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
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4. Deprecated ``mju_rotVecMat`` and ``mju_rotVecMatT`` in favor of :ref:`mju_mulMatVec3` and
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:ref:`mju_mulMatTVec3`. These function names and argument order are more consistent with the rest of the API.
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The older functions have been removed from the Python bindings and will be removed from the C API in the next
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release.
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@@ -3432,8 +3432,6 @@ mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
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mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
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void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
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void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
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void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
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void mju_zero4(mjtNum res[4]);
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void mju_unit4(mjtNum res[4]);
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@@ -975,12 +975,6 @@ MJAPI void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3
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// Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.
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MJAPI void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
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// Deprecated, use mju_mulMatVec3(res, mat, vec).
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MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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// Deprecated, use mju_mulMatTVec3(res, mat, vec).
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MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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// Compute cross-product: res = cross(a, b).
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MJAPI void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
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@@ -6187,64 +6187,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc="Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.",
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)),
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('mju_rotVecMat',
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FunctionDecl(
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name='mju_rotVecMat',
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return_type=ValueType(name='void'),
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parameters=(
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FunctionParameterDecl(
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name='res',
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type=ArrayType(
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inner_type=ValueType(name='mjtNum'),
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extents=(3,),
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),
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),
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FunctionParameterDecl(
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name='vec',
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type=ArrayType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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extents=(3,),
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),
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),
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FunctionParameterDecl(
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name='mat',
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type=ArrayType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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extents=(9,),
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),
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),
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),
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doc='Deprecated, use mju_mulMatVec3(res, mat, vec).',
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)),
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('mju_rotVecMatT',
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FunctionDecl(
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name='mju_rotVecMatT',
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return_type=ValueType(name='void'),
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parameters=(
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FunctionParameterDecl(
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name='res',
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type=ArrayType(
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inner_type=ValueType(name='mjtNum'),
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extents=(3,),
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),
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),
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FunctionParameterDecl(
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name='vec',
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type=ArrayType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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extents=(3,),
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),
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),
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FunctionParameterDecl(
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name='mat',
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type=ArrayType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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extents=(9,),
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),
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),
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),
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doc='Deprecated, use mju_mulMatTVec3(res, mat, vec).',
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)),
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('mju_cross',
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FunctionDecl(
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name='mju_cross',
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@@ -720,8 +720,6 @@ PYBIND11_MODULE(_functions, pymodule) {
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Def<traits::mju_dist3>(pymodule);
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Def<traits::mju_mulMatVec3>(pymodule);
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Def<traits::mju_mulMatTVec3>(pymodule);
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// skipped: mju_rotVecMat
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// skipped: mju_rotVecMatT
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Def<traits::mju_cross>(pymodule);
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Def<traits::mju_zero4>(pymodule);
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Def<traits::mju_unit4>(pymodule);
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@@ -189,20 +189,6 @@ void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
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// multiply vector by 3D rotation matrix (deprecated)
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void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
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mju_mulMatVec3(res, mat, vec);
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}
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// multiply vector by transposed 3D rotation matrix (deprecated)
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void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
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mju_mulMatTVec3(res, mat, vec);
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}
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// multiply 3x3 matrices,
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void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
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res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[3] + mat1[2]*mat2[6];
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@@ -112,12 +112,6 @@ MJAPI void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3
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// multiply transposed 3-by-3 matrix by vector
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MJAPI void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
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// multiply vector by 3D rotation matrix (deprecated)
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MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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// multiply vector by transposed 3D rotation matrix (deprecated)
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MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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// multiply 3x3 matrices
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MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
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@@ -7141,12 +7141,6 @@ public static unsafe extern void mju_mulMatVec3(double* res, double* mat, double
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulMatTVec3(double* res, double* mat, double* vec);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_rotVecMat(double* res, double* vec, double* mat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_rotVecMatT(double* res, double* vec, double* mat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_cross(double* res, double* a, double* b);
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