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