diff --git a/interfaces/Crafter.Math-Intersection.cppm b/interfaces/Crafter.Math-Intersection.cppm
index 260526e..9462d11 100755
--- a/interfaces/Crafter.Math-Intersection.cppm
+++ b/interfaces/Crafter.Math-Intersection.cppm
@@ -194,44 +194,31 @@ namespace Crafter {
     }
 
     export template<typename T>
-    constexpr bool IntersectionTestSphereOrientatedBox(Vector<T, 3, 0> spherePos, T sphereRadius, Vector<T, 3, 0> boxSize, MatrixRowMajor<T, 4, 3, 1> boxMat) {
-        Vector<T, 3, 0> d = spherePos - Vector<T, 3, 0>(boxMat.m[0][3], boxMat.m[1][3], boxMat.m[2][3]);
+    constexpr bool IntersectionTestSphereOrientedBox(Vector<T, 3, 0> sphereCenter, T sphereRadius, Vector<T, 3, 0> boxSize, MatrixRowMajor<T, 4, 3, 1> boxMatrix) {
+        // Extract the OBB's axes (columns of the rotation matrix)
+        Vector<T, 3, 0> xAxis(boxMatrix.m[0][0], boxMatrix.m[0][1], boxMatrix.m[0][2]);
+        Vector<T, 3, 0> yAxis(boxMatrix.m[1][0], boxMatrix.m[1][1], boxMatrix.m[1][2]);
+        Vector<T, 3, 0> zAxis(boxMatrix.m[2][0], boxMatrix.m[2][1], boxMatrix.m[2][2]);
 
-        T distSq = T(0);
+        // Translate the sphere center into the OBB's local space
+        Vector<T, 3, 0> localCenter = Vector<T, 3, 0>(
+            Vector<T, 3, 0>::Dot(sphereCenter - Vector<T, 3, 0>(boxMatrix.m[3][0], boxMatrix.m[3][1], boxMatrix.m[3][2]), xAxis),
+            Vector<T, 3, 0>::Dot(sphereCenter - Vector<T, 3, 0>(boxMatrix.m[3][0], boxMatrix.m[3][1], boxMatrix.m[3][2]), yAxis),
+            Vector<T, 3, 0>::Dot(sphereCenter - Vector<T, 3, 0>(boxMatrix.m[3][0], boxMatrix.m[3][1], boxMatrix.m[3][2]), zAxis)
+        );
 
-        for (std::uint32_t i = 0; i < 3; ++i)
-        {
-            Vector<T, 3, 0> axis(boxMat.m[0][i], boxMat.m[1][i], boxMat.m[2][i]);
-            T dist = Vector<T, 3, 0>::Dot(d, axis);
-            T excess = std::fabs(dist) - boxSize.v[i];
-            excess = std::max(excess, T(0));
-            distSq += excess * excess;
-        }
+        // Clamp the local center to the OBB's extents
+        Vector<T, 3, 0> closestPoint = Vector<T, 3, 0>(
+            std::max(-boxSize.x, std::min(localCenter.x, boxSize.x)),
+            std::max(-boxSize.y, std::min(localCenter.y, boxSize.y)),
+            std::max(-boxSize.z, std::min(localCenter.z, boxSize.z))
+        );
 
-        // Check sphere axes (world axes)
-        for (std::uint32_t i = 0; i < 3; ++i) {
-            Vector<T, 3, 0> axis = Vector<T, 3, 0>(0,0,0);
-            axis.v[i] = T(1);
-            T dist = Vector<T, 3, 0>::Dot(d, axis);
-            T excess = std::abs(dist) - sphereRadius;
-            excess = std::max(excess, T(0));
-            distSq += excess * excess;
-        }
+        // Calculate the distance between the closest point and the local center
+        Vector<T, 3, 0> delta = localCenter - closestPoint;
+        T distanceSquared = Vector<T, 3, 0>::Dot(delta, delta);
 
-        // Check cross product axes
-        for (std::uint32_t i = 0; i < 3; ++i) {
-            for (std::uint32_t j = 0; j < 3; ++j) {
-                Vector<T, 3, 0> boxAxis(boxMat.m[0][i], boxMat.m[1][i], boxMat.m[2][i]);
-                Vector<T, 3, 0> sphereAxis = Vector<T, 3, 0>(0,0,0);
-                sphereAxis.v[j] = T(1);
-                Vector<T, 3, 0> axis = Vector<T, 3, 0>::Cross(boxAxis, sphereAxis);
-                T dist = Vector<T, 3, 0>::Dot(d, axis);
-                T excess = std::abs(dist) - (boxSize.v[(i+1)%3] * sphereRadius + boxSize.v[(i+2)%3] * sphereRadius);
-                excess = std::max(excess, T(0));
-                distSq += excess * excess;
-            }
-        }
-
-        return distSq <= sphereRadius * sphereRadius;
+        // Check if the distance is less than or equal to the sphere's radius squared
+        return distanceSquared <= (sphereRadius * sphereRadius);
     }
 }
\ No newline at end of file