Creates a goal whose effect is to make an agent avoid colliding with the specified static obstacles.
- iOS 9.0+
- macOS 10.11+
- Mac Catalyst 13.0+
- tvOS 9.0+
The static obstacles with which to avoid collisions.
The amount of time during which to predict collisions.
A new goal object.
max parameter controls how far in the future a predicted collision must be in order for the agent to take action to avoid it. For example, if this parameter has a low value, an agents speeding toward an obstacle will not swerve or slow until a collision is imminent (and depending on the properties of that agent, it might not be able to move quickly enough to avoid colliding). If this parameter has a high value, the agent will change course leisurely, well before colliding.