Function JobRVO.GenerateObstacleVOs

void GenerateObstacleVOs (

int	agentIndex
NativeList<int>	adjacentObstacleIdsScratch
NativeArray<int2>	adjacentObstacleVerticesScratch
NativeArray<float>	segmentDistancesScratch
NativeArray<int>	sortedVerticesScratch
NativeArray<ORCALine>	orcaLines
NativeArray<int>	orcaLineToAgent
ref int	numLines
in MovementPlaneWrapper	movementPlane
float2	optimalVelocity

)

Generates ORCA half-planes for all obstacles near the agent.

For more details refer to the ORCA (Optimal Reciprocal Collision Avoidance) paper.

This function takes in several arrays which are just used for temporary data. This is to avoid the overhead of allocating the arrays once for every agent.