doesPathIntersectObstacle(...);

Added some code that returns true if a path between two points
intersects a region around an obstacle.

For example: doesPathIntersectObstacle(10, 20, 50, 55, 30, 25, 5);
Point A = (10, 20)
Point B = (50, 55)
Obstacle = (30, 25)
Obstacle Radius = 5