initial commit, 4.5 stable

thirdparty/rvo2/rvo2_2d/Vector2.h

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+/*
+ * Vector2.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 RVO_VECTOR2_H_
+#define RVO_VECTOR2_H_
+
+/**
+ * \file       Vector2.h
+ * \brief      Contains the Vector2 class.
+ */
+
+#include <cmath>
+#include <ostream>
+
+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;
+		}
+
+	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      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() << ")";
+
+		return os;
+	}
+
+	/**
+	 * \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      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      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();
+	}
+
+	/**
+	 * \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);
+	}
+}
+
+#endif /* RVO_VECTOR2_H_ */