// todo use Navmesh.GetLocalClearance
static float GetLocalClearance(double2 a, double2 b, double2 c, Edge *exit, bool lhs)
{
var lba = math.lengthsq(a - b);
var lbc = math.lengthsq(c - b);
var clearance = math.sqrt(math.min(lba, lbc));
var constraint = TryGetConstraint(exit, clearance, b, lhs);
if (constraint == null)
{
return((float)clearance);
}
return((float)math.length(Math.ClosestPointOnLineSegment(b, constraint->Org->Point, constraint->Dest->Point) - b));
}