static bool reachedGoal(RVOSimulator sim) { /* Check if all agents have reached their goals. */ for (int i = 0; i < sim.getNumAgents(); ++i) { if ((sim.getAgentPosition(i) - goals[i]).LengthSquared() > 4.0f * sim.getAgentRadius(i) * sim.getAgentRadius(i)) { return false; } } return true; }