little cleanup

src/navigation/PathFinder.h

@@ -9,10 +9,6 @@ namespace ZL {
 
 class PathFinder {
 public:
-    struct ObstacleMesh {
-        const VertexDataStruct* mesh = nullptr;
-        Eigen::Vector3f offset = Eigen::Vector3f::Zero();
-    };
 
     struct ObstaclePolygon {
         std::string name;
@@ -35,8 +31,7 @@ public:
         std::vector<Eigen::Vector2f> polygon;
     };
 
-    void build(const std::vector<ObstacleMesh>& obstacleMeshes,
-               const std::string& configPath,
+    void build(const std::string& configPath,
                const std::string& zipPath = "");
 
     std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
@@ -72,7 +67,6 @@ private:
 
     std::string loadedConfigPath;
     std::string loadedZipPath;
-    std::vector<ObstacleMesh> obstacles;
     std::vector<ObstaclePolygon> obstaclePolygons;
     std::vector<unsigned char> walkable;
     std::vector<NavigationArea> areas;
@@ -81,7 +75,6 @@ private:
     void resetGridBounds();
     void rebuildWalkableGrid();
     void markAvailableAreasWalkable();
-    void markObstacleMeshesBlocked();
     void markObstaclePolygonsBlocked();
 
     bool worldToCell(const Eigen::Vector3f& point, Cell& out) const;