具体讲解连接: https://www.codenong.com/cs106863732/ https://www.yhspy.com/2019/09/01/C-%E7%BC%96%E8%AF%91%E5%99%A8%E4%BC%98%E5%8C%96%E4%B9%8B-RVO-%E4%B8%8E-NRVO/