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;
}
