corrected collision of tree

src/navigation/PathFinder.h

@@ -14,6 +14,11 @@ public:
         Eigen::Vector3f offset = Eigen::Vector3f::Zero();
     };
 
+    struct ObstaclePolygon {
+        std::string name;
+        std::vector<Eigen::Vector2f> polygon;
+    };
+
 	struct DynamicObstacle {
 		Eigen::Vector3f position = Eigen::Vector3f::Zero();
 		float radius = 0.0f;
@@ -53,6 +58,7 @@ private:
     float agentRadius = 0.45f;
     float floorY = 0.0f;
     float objectPadding = 0.25f;
+    float boundaryPadding = 0.0f;
 
     float minX = 0.0f;
     float minZ = 0.0f;
@@ -63,6 +69,7 @@ private:
     std::string loadedConfigPath;
     std::string loadedZipPath;
     std::vector<ObstacleMesh> obstacles;
+    std::vector<ObstaclePolygon> obstaclePolygons;
     std::vector<unsigned char> walkable;
     std::vector<NavigationArea> areas;
 
@@ -71,6 +78,7 @@ private:
     void rebuildWalkableGrid();
     void markAvailableAreasWalkable();
     void markObstacleMeshesBlocked();
+    void markObstaclePolygonsBlocked();
 
     bool worldToCell(const Eigen::Vector3f& point, Cell& out) const;
     Eigen::Vector3f cellCenter(const Cell& cell) const;