private void AddObstacle(List <Vector3> pts, bool isPolygon, KdObstacleTree tree, float scale)
{
if (isPolygon)
{
List <Vector3> pts2 = new List <Vector3>();
foreach (Vector3 pt in pts)
{
pts2.Add(pt * scale);
}
pts2.Add(pts[0] * scale);
tree.AddObstacle(pts2);
}
else
{
List <Vector3> pts2 = new List <Vector3>();
foreach (Vector3 pt in pts)
{
pts2.Add(pt * scale);
}
tree.AddObstacle(pts2);
}
}