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Diffstat (limited to 'thirdparty/rvo2/rvo2_2d/Vector2.h')
| -rw-r--r-- | thirdparty/rvo2/rvo2_2d/Vector2.h | 525 |
1 files changed, 226 insertions, 299 deletions
diff --git a/thirdparty/rvo2/rvo2_2d/Vector2.h b/thirdparty/rvo2/rvo2_2d/Vector2.h index 24353e09f3..0cc76f2ba1 100644 --- a/thirdparty/rvo2/rvo2_2d/Vector2.h +++ b/thirdparty/rvo2/rvo2_2d/Vector2.h @@ -2,13 +2,14 @@ * Vector2.h * RVO2 Library * - * Copyright 2008 University of North Carolina at Chapel Hill + * 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 * - * http://www.apache.org/licenses/LICENSE-2.0 + * 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, @@ -27,320 +28,246 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ #ifndef RVO_VECTOR2_H_ #define RVO_VECTOR2_H_ /** - * \file Vector2.h - * \brief Contains the Vector2 class. + * @file Vector2.h + * @brief Declares and defines the Vector2 class. */ -#include <cmath> -#include <ostream> +#include <iosfwd> namespace RVO2D { - /** - * \brief Defines a two-dimensional vector. - */ - class Vector2 { - public: - /** - * \brief Constructs and initializes a two-dimensional vector instance - * to (0.0, 0.0). - */ - inline Vector2() : x_(0.0f), y_(0.0f) { } - - /** - * \brief Constructs and initializes a two-dimensional vector from - * the specified xy-coordinates. - * \param x The x-coordinate of the two-dimensional - * vector. - * \param y The y-coordinate of the two-dimensional - * vector. - */ - inline Vector2(float x, float y) : x_(x), y_(y) { } - - inline Vector2(const Vector2 &vector) - { - x_ = vector.x(); - y_ = vector.y(); - } - - /** - * \brief Returns the x-coordinate of this two-dimensional vector. - * \return The x-coordinate of the two-dimensional vector. - */ - inline float x() const { return x_; } - - /** - * \brief Returns the y-coordinate of this two-dimensional vector. - * \return The y-coordinate of the two-dimensional vector. - */ - inline float y() const { return y_; } - - /** - * \brief Computes the negation of this two-dimensional vector. - * \return The negation of this two-dimensional vector. - */ - inline Vector2 operator-() const - { - return Vector2(-x_, -y_); - } - - /** - * \brief Computes the dot product of this two-dimensional vector with - * the specified two-dimensional vector. - * \param vector The two-dimensional vector with which the - * dot product should be computed. - * \return The dot product of this two-dimensional vector with a - * specified two-dimensional vector. - */ - inline float operator*(const Vector2 &vector) const - { - return x_ * vector.x() + y_ * vector.y(); - } - - /** - * \brief Computes the scalar multiplication of this - * two-dimensional vector with the specified scalar value. - * \param s The scalar value with which the scalar - * multiplication should be computed. - * \return The scalar multiplication of this two-dimensional vector - * with a specified scalar value. - */ - inline Vector2 operator*(float s) const - { - return Vector2(x_ * s, y_ * s); - } - - /** - * \brief Computes the scalar division of this two-dimensional vector - * with the specified scalar value. - * \param s The scalar value with which the scalar - * division should be computed. - * \return The scalar division of this two-dimensional vector with a - * specified scalar value. - */ - inline Vector2 operator/(float s) const - { - const float invS = 1.0f / s; - - return Vector2(x_ * invS, y_ * invS); - } - - /** - * \brief Computes the vector sum of this two-dimensional vector with - * the specified two-dimensional vector. - * \param vector The two-dimensional vector with which the - * vector sum should be computed. - * \return The vector sum of this two-dimensional vector with a - * specified two-dimensional vector. - */ - inline Vector2 operator+(const Vector2 &vector) const - { - return Vector2(x_ + vector.x(), y_ + vector.y()); - } - - /** - * \brief Computes the vector difference of this two-dimensional - * vector with the specified two-dimensional vector. - * \param vector The two-dimensional vector with which the - * vector difference should be computed. - * \return The vector difference of this two-dimensional vector with a - * specified two-dimensional vector. - */ - inline Vector2 operator-(const Vector2 &vector) const - { - return Vector2(x_ - vector.x(), y_ - vector.y()); - } - - /** - * \brief Tests this two-dimensional vector for equality with the - * specified two-dimensional vector. - * \param vector The two-dimensional vector with which to - * test for equality. - * \return True if the two-dimensional vectors are equal. - */ - inline bool operator==(const Vector2 &vector) const - { - return x_ == vector.x() && y_ == vector.y(); - } - - /** - * \brief Tests this two-dimensional vector for inequality with the - * specified two-dimensional vector. - * \param vector The two-dimensional vector with which to - * test for inequality. - * \return True if the two-dimensional vectors are not equal. - */ - inline bool operator!=(const Vector2 &vector) const - { - return x_ != vector.x() || y_ != vector.y(); - } - - /** - * \brief Sets the value of this two-dimensional vector to the scalar - * multiplication of itself with the specified scalar value. - * \param s The scalar value with which the scalar - * multiplication should be computed. - * \return A reference to this two-dimensional vector. - */ - inline Vector2 &operator*=(float s) - { - x_ *= s; - y_ *= s; - - return *this; - } - - /** - * \brief Sets the value of this two-dimensional vector to the scalar - * division of itself with the specified scalar value. - * \param s The scalar value with which the scalar - * division should be computed. - * \return A reference to this two-dimensional vector. - */ - inline Vector2 &operator/=(float s) - { - const float invS = 1.0f / s; - x_ *= invS; - y_ *= invS; - - return *this; - } - - /** - * \brief Sets the value of this two-dimensional vector to the vector - * sum of itself with the specified two-dimensional vector. - * \param vector The two-dimensional vector with which the - * vector sum should be computed. - * \return A reference to this two-dimensional vector. - */ - inline Vector2 &operator+=(const Vector2 &vector) - { - x_ += vector.x(); - y_ += vector.y(); - - return *this; - } - - /** - * \brief Sets the value of this two-dimensional vector to the vector - * difference of itself with the specified two-dimensional - * vector. - * \param vector The two-dimensional vector with which the - * vector difference should be computed. - * \return A reference to this two-dimensional vector. - */ - inline Vector2 &operator-=(const Vector2 &vector) - { - x_ -= vector.x(); - y_ -= vector.y(); - - return *this; - } - - inline Vector2 &operator=(const Vector2 &vector) - { - x_ = vector.x(); - y_ = vector.y(); - - return *this; - } +/** + * @brief A sufficiently small positive number. + */ +extern const float RVO2D_EPSILON; - private: - float x_; - float y_; - }; +/** + * @brief Defines a two-dimensional vector. + */ +class Vector2 { + public: + /** + * @brief Constructs and initializes a two-dimensional vector instance to + * (0.0, 0.0). + */ + Vector2(); + + /** + * @brief Constructs and initializes a two-dimensional vector from the + * specified xy-coordinates. + * @param[in] x The x-coordinate of the two-dimensional vector. + * @param[in] y The y-coordinate of the two-dimensional vector. + */ + Vector2(float x, float y); + + /** + * @brief Returns the x-coordinate of this two-dimensional vector. + * @return The x-coordinate of the two-dimensional vector. + */ + float x() const { return x_; } + + /** + * @brief Returns the y-coordinate of this two-dimensional vector. + * @return The y-coordinate of the two-dimensional vector. + */ + float y() const { return y_; } + + /** + * @brief Computes the negation of this two-dimensional vector. + * @return The negation of this two-dimensional vector. + */ + Vector2 operator-() const; + + /** + * @brief Computes the dot product of this two-dimensional vector with the + * specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which the dot product + * should be computed. + * @return The dot product of this two-dimensional vector with a specified + * two-dimensional vector. + */ + float operator*(const Vector2 &vector) const; + + /** + * @brief Computes the scalar multiplication of this two-dimensional + * vector with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar multiplication + * should be computed. + * @return The scalar multiplication of this two-dimensional vector with a + * specified scalar value. + */ + Vector2 operator*(float scalar) const; + + /** + * @brief Computes the scalar division of this two-dimensional vector with + * the specified scalar value. + * @param[in] scalar The scalar value with which the scalar division should be + * computed. + * @return The scalar division of this two-dimensional vector with a + * specified scalar value. + */ + Vector2 operator/(float scalar) const; + + /** + * @brief Computes the vector sum of this two-dimensional vector with the + * specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which the vector sum + * should be computed. + * @return The vector sum of this two-dimensional vector with a specified + * two-dimensional vector. + */ + Vector2 operator+(const Vector2 &vector) const; + + /** + * @brief Computes the vector difference of this two-dimensional vector + * with the specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which the vector + * difference should be computed. + * @return The vector difference of this two-dimensional vector with a + * specified two-dimensional vector. + */ + Vector2 operator-(const Vector2 &vector) const; + + /** + * @brief Tests this two-dimensional vector for equality with the + * specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which to test for + * equality. + * @return True if the two-dimensional vectors are equal. + */ + bool operator==(const Vector2 &vector) const; + + /** + * @brief Tests this two-dimensional vector for inequality with the + * specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which to test for + * inequality. + * @return True if the two-dimensional vectors are not equal. + */ + bool operator!=(const Vector2 &vector) const; + + /** + * @brief Sets the value of this two-dimensional vector to the scalar + * multiplication of itself with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar multiplication + * should be computed. + * @return A reference to this two-dimensional vector. + */ + Vector2 &operator*=(float scalar); + + /** + * @brief Sets the value of this two-dimensional vector to the scalar + * division of itself with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar division should be + * computed. + * @return A reference to this two-dimensional vector. + */ + Vector2 &operator/=(float scalar); + + /** + * @brief Sets the value of this two-dimensional vector to the vector sum + * of itself with the specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which the vector sum + * should be computed. + * @return A reference to this two-dimensional vector. + */ + Vector2 &operator+=(const Vector2 &vector); + + /** + * @brief Sets the value of this two-dimensional vector to the vector + * difference of itself with the specified two-dimensional vector. + * @param[in] vector The two-dimensional vector with which the vector + * difference should be computed. + * @return A reference to this two-dimensional vector. + */ + Vector2 &operator-=(const Vector2 &vector); + + private: + float x_; + float y_; +}; - /** - * \relates Vector2 - * \brief Computes the scalar multiplication of the specified - * two-dimensional vector with the specified scalar value. - * \param s The scalar value with which the scalar - * multiplication should be computed. - * \param vector The two-dimensional vector with which the scalar - * multiplication should be computed. - * \return The scalar multiplication of the two-dimensional vector with the - * scalar value. - */ - inline Vector2 operator*(float s, const Vector2 &vector) - { - return Vector2(s * vector.x(), s * vector.y()); - } +/** + * @relates Vector2 + * @brief Computes the scalar multiplication of the specified + * two-dimensional vector with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar multiplication + * should be computed. + * @param[in] vector The two-dimensional vector with which the scalar + * multiplication should be computed. + * @return The scalar multiplication of the two-dimensional vector with the + * scalar value. + */ + Vector2 operator*(float scalar, const Vector2 &vector); - /** - * \relates Vector2 - * \brief Inserts the specified two-dimensional vector into the specified - * output stream. - * \param os The output stream into which the two-dimensional - * vector should be inserted. - * \param vector The two-dimensional vector which to insert into - * the output stream. - * \return A reference to the output stream. - */ - inline std::ostream &operator<<(std::ostream &os, const Vector2 &vector) - { - os << "(" << vector.x() << "," << vector.y() << ")"; +/** + * @relates Vector2 + * @brief Inserts the specified two-dimensional vector into the + * specified output stream. + * @param[in, out] stream The output stream into which the two-dimensional + * vector should be inserted. + * @param[in] vector The two-dimensional vector which to insert into the + * output stream. + * @return A reference to the output stream. + */ + std::ostream &operator<<(std::ostream &stream, + const Vector2 &vector); - return os; - } +/** + * @relates Vector2 + * @brief Computes the length of a specified two-dimensional vector. + * @param[in] vector The two-dimensional vector whose length is to be computed. + * @return The length of the two-dimensional vector. + */ + float abs(const Vector2 &vector); - /** - * \relates Vector2 - * \brief Computes the length of a specified two-dimensional vector. - * \param vector The two-dimensional vector whose length is to be - * computed. - * \return The length of the two-dimensional vector. - */ - inline float abs(const Vector2 &vector) - { - return std::sqrt(vector * vector); - } +/** + * @relates Vector2 + * @brief Computes the squared length of a specified two-dimensional vector. + * @param[in] vector The two-dimensional vector whose squared length is to be + * computed. + * @return The squared length of the two-dimensional vector. + */ + float absSq(const Vector2 &vector); - /** - * \relates Vector2 - * \brief Computes the squared length of a specified two-dimensional - * vector. - * \param vector The two-dimensional vector whose squared length - * is to be computed. - * \return The squared length of the two-dimensional vector. - */ - inline float absSq(const Vector2 &vector) - { - return vector * vector; - } +/** + * @relates Vector2 + * @brief Computes the determinant of a two-dimensional square matrix with + * rows consisting of the specified two-dimensional vectors. + * @param[in] vector1 The top row of the two-dimensional square matrix. + * @param[in] vector2 The bottom row of the two-dimensional square matrix. + * @return The determinant of the two-dimensional square matrix. + */ + float det(const Vector2 &vector1, const Vector2 &vector2); - /** - * \relates Vector2 - * \brief Computes the determinant of a two-dimensional square matrix with - * rows consisting of the specified two-dimensional vectors. - * \param vector1 The top row of the two-dimensional square - * matrix. - * \param vector2 The bottom row of the two-dimensional square - * matrix. - * \return The determinant of the two-dimensional square matrix. - */ - inline float det(const Vector2 &vector1, const Vector2 &vector2) - { - return vector1.x() * vector2.y() - vector1.y() * vector2.x(); - } +/** + * @brief Computes the signed distance from a line connecting th specified + * points to a specified point. + * @param[in] vector1 The first point on the line. + * @param[in] vector2 The second point on the line. + * @param[in] vector3 The point to which the signed distance is to be + * calculated. + * @return Positive when the point vector3 lies to the left of the line + * vector1-vector2. + */ + float leftOf(const Vector2 &vector1, const Vector2 &vector2, + const Vector2 &vector3); - /** - * \relates Vector2 - * \brief Computes the normalization of the specified two-dimensional - * vector. - * \param vector The two-dimensional vector whose normalization - * is to be computed. - * \return The normalization of the two-dimensional vector. - */ - inline Vector2 normalize(const Vector2 &vector) - { - return vector / abs(vector); - } -} +/** + * @relates Vector2 + * @brief Computes the normalization of the specified two-dimensional + * vector. + * @param[in] vector The two-dimensional vector whose normalization is to be + * computed. + * @return The normalization of the two-dimensional vector. + */ + Vector2 normalize(const Vector2 &vector); +} /* namespace RVO2D */ #endif /* RVO_VECTOR2_H_ */ |