--- /dev/null
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_ODEMATH_LEGACY_H_
+#define _ODE_ODEMATH_LEGACY_H_
+
+
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+/*
+* These macros are not used any more inside of ODE
+* They are kept for backward compatibility with external code that
+* might still be using them.
+*/
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+
+/*
+* General purpose vector operations with other vectors or constants.
+*/
+
+#define dOP(a,op,b,c) do { \
+ (a)[0] = ((b)[0]) op ((c)[0]); \
+ (a)[1] = ((b)[1]) op ((c)[1]); \
+ (a)[2] = ((b)[2]) op ((c)[2]); \
+} while (0)
+#define dOPC(a,op,b,c) do { \
+ (a)[0] = ((b)[0]) op (c); \
+ (a)[1] = ((b)[1]) op (c); \
+ (a)[2] = ((b)[2]) op (c); \
+} while (0)
+#define dOPE(a,op,b) do {\
+ (a)[0] op ((b)[0]); \
+ (a)[1] op ((b)[1]); \
+ (a)[2] op ((b)[2]); \
+} while (0)
+#define dOPEC(a,op,c) do { \
+ (a)[0] op (c); \
+ (a)[1] op (c); \
+ (a)[2] op (c); \
+} while (0)
+
+/// Define an equation with operators
+/// For example this function can be used to replace
+/// <PRE>
+/// for (int i=0; i<3; ++i)
+/// a[i] += b[i] + c[i];
+/// </PRE>
+#define dOPE2(a,op1,b,op2,c) do { \
+ (a)[0] op1 ((b)[0]) op2 ((c)[0]); \
+ (a)[1] op1 ((b)[1]) op2 ((c)[1]); \
+ (a)[2] op1 ((b)[2]) op2 ((c)[2]); \
+} while (0)
+
+
+#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a)
+#define dLENGTH(a) dCalcVectorLength3(a)
+#define dDISTANCE(a, b) dCalcPointsDistance3(a, b)
+
+
+#define dDOT(a, b) dCalcVectorDot3(a, b)
+#define dDOT13(a, b) dCalcVectorDot3_13(a, b)
+#define dDOT31(a, b) dCalcVectorDot3_31(a, b)
+#define dDOT33(a, b) dCalcVectorDot3_33(a, b)
+#define dDOT14(a, b) dCalcVectorDot3_14(a, b)
+#define dDOT41(a, b) dCalcVectorDot3_41(a, b)
+#define dDOT44(a, b) dCalcVectorDot3_44(a, b)
+
+
+/*
+* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
+* and `c' are spaced p, q and r indexes apart respectively.
+* dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
+* +=, -= etc to get other effects.
+*/
+
+#define dCROSS(a,op,b,c) \
+ do { \
+ (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+ (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+ (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
+ } while(0)
+#define dCROSSpqr(a,op,b,c,p,q,r) \
+ do { \
+ (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
+ (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
+ (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
+ } while(0)
+#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
+#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
+#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
+#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
+#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
+#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
+#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
+
+
+/*
+* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
+* A is stored by rows, and has `skip' elements per row. the matrix is
+* assumed to be already zero, so this does not write zero elements!
+* if (plus,minus) is (+,-) then a positive version will be written.
+* if (plus,minus) is (-,+) then a negative version will be written.
+*/
+
+#define dCROSSMAT(A,a,skip,plus,minus) \
+ do { \
+ (A)[1] = minus (a)[2]; \
+ (A)[2] = plus (a)[1]; \
+ (A)[(skip)+0] = plus (a)[2]; \
+ (A)[(skip)+2] = minus (a)[0]; \
+ (A)[2*(skip)+0] = minus (a)[1]; \
+ (A)[2*(skip)+1] = plus (a)[0]; \
+ } while(0)
+
+
+
+
+/*
+Note: NEVER call any of these functions/macros with the same variable for A and C,
+it is not equivalent to A*=B.
+*/
+
+#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C)
+#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C)
+#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C)
+#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C)
+#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C)
+#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C)
+
+#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C)
+#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C)
+#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C)
+#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C)
+#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C)
+#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C)
+
+
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+/*
+* These macros are not used any more inside of ODE
+* They are kept for backward compatibility with external code that
+* might still be using them.
+*/
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+
+
+#endif // #ifndef _ODE_ODEMATH_LEGACY_H_
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