/**
* <summary>Inserts a static obstacle neighbor into the set of neighbors
* of this agent.</summary>
*
* <param name="obstacle">The number of the static obstacle to be
* inserted.</param>
* <param name="rangeSq">The squared range around this agent.</param>
*/
internal void insertObstacleNeighbor(Obstacle obstacle, float rangeSq)
{
Obstacle nextObstacle = obstacle.next_;
float distSq = RVOMath.distSqPointLineSegment(obstacle.point_, nextObstacle.point_, position_);
if (distSq < rangeSq)
{
obstacleNeighbors_.Add(new KeyValuePair <float, Obstacle>(distSq, obstacle));
int i = obstacleNeighbors_.Count - 1;
while (i != 0 && distSq < obstacleNeighbors_[i - 1].Key)
{
obstacleNeighbors_[i] = obstacleNeighbors_[i - 1];
--i;
}
obstacleNeighbors_[i] = new KeyValuePair <float, Obstacle>(distSq, obstacle);
}
}
