void CalculateObstacles()
 {
     obstacleCalculator = new ObstacleCalculator(this);
     obstacleCalculator.Calculate();
     foreach (Polyline poly in obstacleCalculator.TightObstacles)
     {
         foreach (Point p in poly)
         {
             pointsToObstacles[p] = poly;
         }
     }
 }
 void CalculateObstacles() {
     obstacleCalculator = new ObstacleCalculator(this);
     obstacleCalculator.Calculate();
     foreach (Polyline poly in obstacleCalculator.TightObstacles)
         foreach (Point p in poly)
             pointsToObstacles[p] = poly;
 }