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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_ */
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