ODE  0.13.1
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compatibility.h
1 /*************************************************************************
2  * *
3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4  * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5  * *
6  * This library is free software; you can redistribute it and/or *
7  * modify it under the terms of EITHER: *
8  * (1) The GNU Lesser General Public License as published by the Free *
9  * Software Foundation; either version 2.1 of the License, or (at *
10  * your option) any later version. The text of the GNU Lesser *
11  * General Public License is included with this library in the *
12  * file LICENSE.TXT. *
13  * (2) The BSD-style license that is included with this library in *
14  * the file LICENSE-BSD.TXT. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19  * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20  * *
21  *************************************************************************/
22 
23 #ifndef _ODE_COMPATIBILITY_H_
24 #define _ODE_COMPATIBILITY_H_
25 
26 /*
27  * ODE's backward compatibility system ensures that as ODE's API
28  * evolves, user code will not break.
29  */
30 
31 /*
32  * These new rotation function names are more consistent with the
33  * rest of the API.
34  */
35 #define dQtoR(q,R) dRfromQ((R),(q))
36 #define dRtoQ(R,q) dQfromR((q),(R))
37 #define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
38 
39 
40 #endif