public virtual void addCircle(float[] pos, float rad, float[] vel, float[] dvel)
{
if (m_ncircles >= m_maxCircles)
{
return;
}
ObstacleCircle cir = m_circles[m_ncircles++];
DetourCommon.vCopy(cir.p, pos);
cir.rad = rad;
DetourCommon.vCopy(cir.vel, vel);
DetourCommon.vCopy(cir.dvel, dvel);
}
/// <summary>
///**************************** </summary>
public ObstacleAvoidanceQuery(int maxCircles, int maxSegments)
{
m_maxCircles = maxCircles;
m_ncircles = 0;
m_circles = new ObstacleCircle[m_maxCircles];
for (int i = 0; i < m_maxCircles; i++)
{
m_circles[i] = new ObstacleCircle();
}
m_maxSegments = maxSegments;
m_nsegments = 0;
m_segments = new ObstacleSegment[m_maxSegments];
for (int i = 0; i < m_maxSegments; i++)
{
m_segments[i] = new ObstacleSegment();
}
}