MotionModelSwedish spawnActor(float[] origin, string name, float orientation, int index, float[] goalPoint)
{
Vector3 newOrientation = new Vector3(Mathf.Cos(orientation), 0, Mathf.Sin(orientation));
Vector3 position = new Vector3(origin[0], actorHeight, origin[1]);
Vector3 goal = new Vector3(goalPoint[0], actorHeight, goalPoint[1]);
GameObject actor = Instantiate(actorObject, actorsBoundingObject.transform, true);
actor.name = name;
actor.transform.position = position;
actor.transform.forward = newOrientation;
MotionModelSwedish mm = actor.AddComponent <MotionModelSwedish>();
mm.setParams(problem.vehicle_v_max, actorRadius, 3f, index, goal);
return(mm);
}
