Allow in-place computation for mju_mulQuat and mju_mulQuatAxis

PiperOrigin-RevId: 471222168 Change-Id: If43210636cf20000b343ad1efd02836465380ebe
2022-08-31 04:08:28 -07:00
parent 366e1c53d4
commit fdbbc8bbe0
3 changed files with 31 additions and 11 deletions
@@ -49,7 +49,8 @@ General
 - Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
 - ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
 - Added a disable flag for sensors.
-
+- :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
+  |br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
 Deleted/deprecated features
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^

@@ -1,5 +1,5 @@
 ..
-   Macro for adding non-breaking spaces for indentation.
+   Macros for adding non-breaking spaces for indentation.

 .. |_| unicode:: 0xA0 0xA0
   :trim:
@@ -8,4 +8,11 @@
   :trim:

 .. |_3| unicode:: 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0
-   :trim:
+   :trim:
+
+..
+   Macro for injecting a custom line break.
+
+.. |br| raw:: html
+
+  <br/>