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/*
* Vector2.h
* 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/>
*/
#ifndef RVO_VECTOR2_H_
#define RVO_VECTOR2_H_
/**
* @file Vector2.h
* @brief Declares and defines the Vector2 class.
*/
#include <iosfwd>
namespace RVO2D {
/**
* @brief A sufficiently small positive number.
*/
extern const float RVO2D_EPSILON;
/**
* @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[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[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);
/**
* @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 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 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);
/**
* @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[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_ */
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