Pathfinding.RVO.Sampled.Agent.DrawCircle C# (CSharp) Method

		static void DrawCircle (Vector2 _p, float radius, Color col) {
			DrawCircle(_p, radius, 0, 2*Mathf.PI, col);
		}

        private static void DrawVO(Vector2 circleCenter, float radius, Vector2 origin)
        {
            float num  = Mathf.Atan2((origin - circleCenter).y, (origin - circleCenter).x);
            float num2 = radius / (origin - circleCenter).magnitude;
            float num3 = (num2 > 1f) ? 0f : Mathf.Abs(Mathf.Acos(num2));

            Agent.DrawCircle(circleCenter, radius, num - num3, num + num3, Color.black);
            Vector2 vector  = new Vector2(Mathf.Cos(num - num3), Mathf.Sin(num - num3)) * radius;
            Vector2 vector2 = new Vector2(Mathf.Cos(num + num3), Mathf.Sin(num + num3)) * radius;
            Vector2 p       = -new Vector2(-vector.y, vector.x);
            Vector2 p2      = new Vector2(-vector2.y, vector2.x);

            vector  += circleCenter;
            vector2 += circleCenter;
            Debug.DrawRay(Agent.To3D(vector), Agent.To3D(p).normalized * 100f, Color.black);
            Debug.DrawRay(Agent.To3D(vector2), Agent.To3D(p2).normalized * 100f, Color.black);
        }