/**
* <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);
}
}