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); } }