public void BuildObstacleTree()
{
List <ObstacleVertex> obstacles = Pathfinding.Util.ListPool <ObstacleVertex> .Claim();
List <ObstacleVertex> src = simulator.GetObstacles();
for (int i = 0; i < src.Count; i++)
{
ObstacleVertex c = src[i];
do
{
obstacles.Add(c);
c = c.next;
} while (c != src[i]);
}
RecycleOTN(obstacleRoot);
obstacleRoot = BuildObstacleTreeRecursive(obstacles);
}
