diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 892c4b3..4bbc440 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -1141,6 +1141,9 @@ namespace DotRecast.Detour.Crowd
                     for (int j = 0; j < ag.neis.Count; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
+                        if(!nei.option.contributeObstacleAvoidance || nei.option.obstacleAvoidanceWeight < ag.option.obstacleAvoidanceWeight)
+                            continue;
+                        
                         _obstacleQuery.AddCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
                     }
 
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
index ca78784..2c18ca0 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
@@ -53,6 +53,9 @@ namespace DotRecast.Detour.Crowd
         /// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
         public int obstacleAvoidanceType;
 
+        public bool contributeObstacleAvoidance;
+        public float obstacleAvoidanceWeight;
+
         /// The index of the query filter used by this agent.
         public int queryFilterType;
 
diff --git a/src/package.json b/src/package.json
index c521e17..bcb0950 100644
--- a/src/package.json
+++ b/src/package.json
@@ -1,5 +1,5 @@
 {
   "name": "com.rnd.dotrecast",
   "displayName": "DotRecast",
-  "version": "0.1.4-exp.1"
+  "version": "0.2.0"
 }
\ No newline at end of file