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+/*
+ * Definitions.h
+ * RVO2 Library
+ *
+ * Copyright 2008 University of North Carolina at Chapel Hill
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Please send all bug reports to <geom@cs.unc.edu>.
+ *
+ * The authors may be contacted via:
+ *
+ * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+ * Dept. of Computer Science
+ * 201 S. Columbia St.
+ * Frederick P. Brooks, Jr. Computer Science Bldg.
+ * Chapel Hill, N.C. 27599-3175
+ * United States of America
+ *
+ * <http://gamma.cs.unc.edu/RVO2/>
+ */
+
+#ifndef RVO2D_DEFINITIONS_H_
+#define RVO2D_DEFINITIONS_H_
+
+/**
+ * \file       Definitions.h
+ * \brief      Contains functions and constants used in multiple classes.
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <limits>
+#include <vector>
+
+#include "Vector2.h"
+
+/**
+ * \brief       A sufficiently small positive number.
+ */
+const float RVO_EPSILON = 0.00001f;
+
+namespace RVO2D {
+	class Agent2D;
+	class Obstacle2D;
+	class RVOSimulator2D;
+
+	/**
+	 * \brief      Computes the squared distance from a line segment with the
+	 *             specified endpoints to a specified point.
+	 * \param      a               The first endpoint of the line segment.
+	 * \param      b               The second endpoint of the line segment.
+	 * \param      c               The point to which the squared distance is to
+	 *                             be calculated.
+	 * \return     The squared distance from the line segment to the point.
+	 */
+	inline float distSqPointLineSegment(const Vector2 &a, const Vector2 &b,
+										const Vector2 &c)
+	{
+		const float r = ((c - a) * (b - a)) / absSq(b - a);
+
+		if (r < 0.0f) {
+			return absSq(c - a);
+		}
+		else if (r > 1.0f) {
+			return absSq(c - b);
+		}
+		else {
+			return absSq(c - (a + r * (b - a)));
+		}
+	}
+
+	/**
+	 * \brief      Computes the signed distance from a line connecting the
+	 *             specified points to a specified point.
+	 * \param      a               The first point on the line.
+	 * \param      b               The second point on the line.
+	 * \param      c               The point to which the signed distance is to
+	 *                             be calculated.
+	 * \return     Positive when the point c lies to the left of the line ab.
+	 */
+	inline float leftOf(const Vector2 &a, const Vector2 &b, const Vector2 &c)
+	{
+		return det(a - c, b - a);
+	}
+
+	/**
+	 * \brief      Computes the square of a float.
+	 * \param      a               The float to be squared.
+	 * \return     The square of the float.
+	 */
+	inline float sqr(float a)
+	{
+		return a * a;
+	}
+}
+
+#endif /* RVO2D_DEFINITIONS_H_ */