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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