include/ode/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