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diff --git a/thirdparty/rvo2/rvo2_2d/Vector2.cc b/thirdparty/rvo2/rvo2_2d/Vector2.cc
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+++ b/thirdparty/rvo2/rvo2_2d/Vector2.cc
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+/*
+ * Vector2.cpp
+ * RVO2 Library
+ *
+ * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * 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
+ *
+ *     https://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
+ *
+ * <https://gamma.cs.unc.edu/RVO2/>
+ */
+
+/**
+ * @file  Vector2.cc
+ * @brief Defines the Vector2 class.
+ */
+
+#include "Vector2.h"
+
+#include <cmath>
+#include <ostream>
+
+namespace RVO2D {
+const float RVO2D_EPSILON = 0.00001F;
+
+Vector2::Vector2() : x_(0.0F), y_(0.0F) {}
+
+Vector2::Vector2(float x, float y) : x_(x), y_(y) {}
+
+Vector2 Vector2::operator-() const { return Vector2(-x_, -y_); }
+
+float Vector2::operator*(const Vector2 &vector) const {
+  return x_ * vector.x_ + y_ * vector.y_;
+}
+
+Vector2 Vector2::operator*(float scalar) const {
+  return Vector2(x_ * scalar, y_ * scalar);
+}
+
+Vector2 Vector2::operator/(float scalar) const {
+  const float invScalar = 1.0F / scalar;
+
+  return Vector2(x_ * invScalar, y_ * invScalar);
+}
+
+Vector2 Vector2::operator+(const Vector2 &vector) const {
+  return Vector2(x_ + vector.x_, y_ + vector.y_);
+}
+
+Vector2 Vector2::operator-(const Vector2 &vector) const {
+  return Vector2(x_ - vector.x_, y_ - vector.y_);
+}
+
+bool Vector2::operator==(const Vector2 &vector) const {
+  return x_ == vector.x_ && y_ == vector.y_;
+}
+
+bool Vector2::operator!=(const Vector2 &vector) const {
+  return x_ != vector.x_ || y_ != vector.y_;
+}
+
+Vector2 &Vector2::operator*=(float scalar) {
+  x_ *= scalar;
+  y_ *= scalar;
+
+  return *this;
+}
+
+Vector2 &Vector2::operator/=(float scalar) {
+  const float invScalar = 1.0F / scalar;
+  x_ *= invScalar;
+  y_ *= invScalar;
+
+  return *this;
+}
+
+Vector2 &Vector2::operator+=(const Vector2 &vector) {
+  x_ += vector.x_;
+  y_ += vector.y_;
+
+  return *this;
+}
+
+Vector2 &Vector2::operator-=(const Vector2 &vector) {
+  x_ -= vector.x_;
+  y_ -= vector.y_;
+
+  return *this;
+}
+
+Vector2 operator*(float scalar, const Vector2 &vector) {
+  return Vector2(scalar * vector.x(), scalar * vector.y());
+}
+
+std::ostream &operator<<(std::ostream &stream, const Vector2 &vector) {
+  stream << "(" << vector.x() << "," << vector.y() << ")";
+
+  return stream;
+}
+
+float abs(const Vector2 &vector) { return std::sqrt(vector * vector); }
+
+float absSq(const Vector2 &vector) { return vector * vector; }
+
+float det(const Vector2 &vector1, const Vector2 &vector2) {
+  return vector1.x() * vector2.y() - vector1.y() * vector2.x();
+}
+
+float leftOf(const Vector2 &vector1, const Vector2 &vector2,
+             const Vector2 &vector3) {
+  return det(vector1 - vector3, vector2 - vector1);
+}
+
+Vector2 normalize(const Vector2 &vector) { return vector / abs(vector); }
+} /* namespace RVO */