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Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.

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PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
This commit is contained in:
Yuval Tassa
2024-10-24 09:14:13 -07:00
committed by Copybara-Service
parent 159f23e6b4
commit a3ea01e57e
9 changed files with 2 additions and 113 deletions
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src/engine/engine_util_blas.c
-14
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@@ -189,20 +189,6 @@ void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
// multiply vector by 3D rotation matrix (deprecated)
void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
mju_mulMatVec3(res, mat, vec);
}
// multiply vector by transposed 3D rotation matrix (deprecated)
void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
mju_mulMatTVec3(res, mat, vec);
}
// multiply 3x3 matrices,
void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[3] + mat1[2]*mat2[6];
src/engine/engine_util_blas.h
-6
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@@ -112,12 +112,6 @@ MJAPI void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3
// multiply transposed 3-by-3 matrix by vector
MJAPI void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
// multiply vector by 3D rotation matrix (deprecated)
MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
// multiply vector by transposed 3D rotation matrix (deprecated)
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
// multiply 3x3 matrices
MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);