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# 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