public virtual void addCircle(float[] pos, float rad, float[] vel, float[] dvel) { if (m_ncircles >= m_maxCircles) { return; } ObstacleCircle cir = m_circles[m_ncircles++]; DetourCommon.vCopy(cir.p, pos); cir.rad = rad; DetourCommon.vCopy(cir.vel, vel); DetourCommon.vCopy(cir.dvel, dvel); }
/// <summary> ///**************************** </summary> public ObstacleAvoidanceQuery(int maxCircles, int maxSegments) { m_maxCircles = maxCircles; m_ncircles = 0; m_circles = new ObstacleCircle[m_maxCircles]; for (int i = 0; i < m_maxCircles; i++) { m_circles[i] = new ObstacleCircle(); } m_maxSegments = maxSegments; m_nsegments = 0; m_segments = new ObstacleSegment[m_maxSegments]; for (int i = 0; i < m_maxSegments; i++) { m_segments[i] = new ObstacleSegment(); } }