public void Update()
{
var center = Center.transform.position.TakeXZ();
var dir = (End.position - Center.position).normalized.TakeXZ();
var dist = (End.position - Center.position).magnitude;
var obstacle = new Rect(ObstacleStart.position.TakeXZ(), (ObstacleEnd.position - ObstacleStart.position).TakeXZ());
var rect = new OrientedRect(center, dir, dist, Width);
var hit = Collision2DHelper.Intersects(obstacle, rect);
DrawHelpers.DrawRect(rect, hit ? Color.red : Color.green);
DrawHelpers.DrawRect(obstacle, Color.blue);
DrawHelpers.DrawRect(rect.GetAABB(), Color.black);
}