removed Obstacle, moved rayIntersect to MeshGeometry; vision: json me…

…thods not working

src/core/MeshGeometry.js

@@ -1,6 +1,16 @@
 import { AABB } from '../math/AABB.js';
 import { BoundingSphere } from '../math/BoundingSphere.js';
 import { Vector3 } from '../math/Vector3.js';
+import { Ray } from "../math/Ray";
+import { Plane } from "../math/Plane";
+import { Matrix4 } from "../math/Matrix4";
+
+
+const boundingSphere = new BoundingSphere();
+const triangle = { a: new Vector3(), b: new Vector3(), c: new Vector3() };
+const rayLocal = new Ray();
+const plane = new Plane();
+const inverseMatrix = new Matrix4();
 
 /**
 * Class for representing a polygon mesh. The faces consist of triangles.
@@ -66,6 +76,121 @@ class MeshGeometry {
 
 	}
 
+	/**
+	 * Performs a ray intersection test with the geometry of the obstacle and stores
+	 * the intersection point in the given result vector. If no intersection is detected,
+	 * *null* is returned.
+	 *
+	 * @param {Ray} ray - The ray to test.
+	 * @param {Vector3} intersectionPoint - The intersection point.
+	 * @param {Matrix4} worldMatrix - The world matrix.
+	 * @param {Vector3} normal - The normal vector of the respective triangle.
+	 * @return {Vector3} The result vector.
+	 */
+	intersectRay( ray, intersectionPoint, worldMatrix, normal = null ) {
+
+		const geometry = this;
+
+		// check bounding sphere first in world space
+
+		boundingSphere.copy( geometry.boundingSphere ).applyMatrix4( worldMatrix );
+
+		if ( ray.intersectsBoundingSphere( boundingSphere ) ) {
+
+			// transform the ray into the local space of the obstacle
+
+			worldMatrix.getInverse( inverseMatrix );
+			rayLocal.copy( ray ).applyMatrix4( inverseMatrix );
+
+			// check AABB in local space since its more expensive to convert an AABB to world space than a bounding sphere
+
+			if ( rayLocal.intersectsAABB( geometry.aabb ) ) {
+
+				// now perform more expensive test with all triangles of the geometry
+
+				const vertices = geometry.vertices;
+				const indices = geometry.indices;
+
+				if ( indices === null ) {
+
+					// non-indexed geometry
+
+					for ( let i = 0, l = vertices.length; i < l; i += 9 ) {
+
+						triangle.a.set( vertices[ i ], vertices[ i + 1 ], vertices[ i + 2 ] );
+						triangle.b.set( vertices[ i + 3 ], vertices[ i + 4 ], vertices[ i + 5 ] );
+						triangle.c.set( vertices[ i + 6 ], vertices[ i + 7 ], vertices[ i + 8 ] );
+
+						if ( rayLocal.intersectTriangle( triangle, geometry.backfaceCulling, intersectionPoint ) !== null ) {
+
+							// transform intersection point back to world space
+
+							intersectionPoint.applyMatrix4( worldMatrix );
+
+							// compute normal of triangle in world space if necessary
+
+							if ( normal !== null ) {
+
+								plane.fromCoplanarPoints( triangle.a, triangle.b, triangle.c );
+								normal.copy( plane.normal );
+								normal.transformDirection( worldMatrix );
+
+							}
+
+							return intersectionPoint;
+
+						}
+
+					}
+
+				} else {
+
+					// indexed geometry
+
+					for ( let i = 0, l = indices.length; i < l; i += 3 ) {
+
+						const a = indices[ i ];
+						const b = indices[ i + 1 ];
+						const c = indices[ i + 2 ];
+
+						const stride = 3;
+
+						triangle.a.set( vertices[ ( a * stride ) ], vertices[ ( a * stride ) + 1 ], vertices[ ( a * stride ) + 2 ] );
+						triangle.b.set( vertices[ ( b * stride ) ], vertices[ ( b * stride ) + 1 ], vertices[ ( b * stride ) + 2 ] );
+						triangle.c.set( vertices[ ( c * stride ) ], vertices[ ( c * stride ) + 1 ], vertices[ ( c * stride ) + 2 ] );
+
+						if ( rayLocal.intersectTriangle( triangle, geometry.backfaceCulling, intersectionPoint ) !== null ) {
+
+							// transform intersection point back to world space
+
+							intersectionPoint.applyMatrix4( worldMatrix );
+
+							// compute normal of triangle in world space if necessary
+
+							if ( normal !== null ) {
+
+								plane.fromCoplanarPoints( triangle.a, triangle.b, triangle.c );
+								normal.copy( plane.normal );
+								normal.transformDirection( worldMatrix );
+
+							}
+
+							return intersectionPoint;
+
+						}
+
+					}
+
+				}
+
+			}
+
+		}
+
+		return null;
+
+	}
+
 	/**
 	* Transforms this instance into a JSON object.
 	*