static NativeList <VelocityObstacle> ComputeNeighbours(RVOSettingsComponent agent, DynamicTreeElementComponent agentTree, float2 pos, ComponentDataFromEntity <VelocityObstacleComponent> velocityObstacleLookup)
{
var neighbours = new NativeList <VelocityObstacle>(agent.MaxNeighbours, Allocator.Temp);
var ext = agent.NeighbourDist / 2;
var aabb = new AABB {
LowerBound = pos - ext, UpperBound = pos + ext
};
agentTree.Query(new VelocityObstacleCollector(pos, agent.NeighbourDist, agent.MaxNeighbours, neighbours, velocityObstacleLookup), aabb);
return(neighbours);
}
public static NativeList <Entity> ComputeNeighbours(this DynamicTreeElementComponent treeElement, float neighbourDist,
float2 pos, ComponentDataFromEntity <VelocityObstacleComponent> velocityObstacleLookup)
{
var neighbours = new NativeList <Entity>(Allocator.Temp);
var ext = neighbourDist / 2;
var aabb = new AABB {
LowerBound = pos - ext, UpperBound = pos + ext
};
treeElement.Query(new DistanceCollector(pos, neighbourDist, neighbours, velocityObstacleLookup), aabb);
return(neighbours);
}