compatibility.h

00001 /*************************************************************************
00002  *                                                                       *
00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
00005  *                                                                       *
00006  * This library is free software; you can redistribute it and/or         *
00007  * modify it under the terms of EITHER:                                  *
00008  *   (1) The GNU Lesser General Public License as published by the Free  *
00009  *       Software Foundation; either version 2.1 of the License, or (at  *
00010  *       your option) any later version. The text of the GNU Lesser      *
00011  *       General Public License is included with this library in the     *
00012  *       file LICENSE.TXT.                                               *
00013  *   (2) The BSD-style license that is included with this library in     *
00014  *       the file LICENSE-BSD.TXT.                                       *
00015  *                                                                       *
00016  * This library is distributed in the hope that it will be useful,       *
00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
00020  *                                                                       *
00021  *************************************************************************/
00022 
00023 #ifndef _ODE_COMPATIBILITY_H_
00024 #define _ODE_COMPATIBILITY_H_
00025 
00026 /*
00027  * ODE's backward compatibility system ensures that as ODE's API
00028  * evolves, user code will not break.
00029  */
00030 
00031 /*
00032  * These new rotation function names are more consistent with the
00033  * rest of the API.
00034  */
00035 #define dQtoR(q,R) dRfromQ((R),(q))
00036 #define dRtoQ(R,q) dQfromR((q),(R))
00037 #define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
00038 
00039 
00040 #endif

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