1 /*************************************************************************
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
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 *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
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. *
21 *************************************************************************/
23 #ifndef _ODE_COMPATIBILITY_H_
24 #define _ODE_COMPATIBILITY_H_
27 * ODE's backward compatibility system ensures that as ODE's API
28 * evolves, user code will not break.
32 * These new rotation function names are more consistent with the
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))