use obstacle-in-path pathfinding

src/satx.js

@@ -41,8 +41,12 @@ export default class SATX {
     return false
   }
 
-  static collideObjects(collider1, colliders) {
-    return colliders.some((c) => this.collideObject(collider1, c))
+  static collideObjects(collider, colliders) {
+    return colliders.some((c) => this.collideObject(collider, c))
+  }
+
+  static collideObstacles(collider, obstacles) {
+    return obstacles.filter((obstacle) => obstacle.colliders().some((c) => this.collideObject(collider, c)))
   }
 
   static enclosingRegularPolygonRadius(numberOfVertices) {