From b1f9f44bbee2d521808454a320089a64ffbb7526 Mon Sep 17 00:00:00 2001
From: Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>
Date: Sat, 7 Mar 2026 20:20:06 +0100
Subject: [PATCH] sphere box test

---
 interfaces/Crafter.Math-Intersection.cppm | 28 +++++++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/interfaces/Crafter.Math-Intersection.cppm b/interfaces/Crafter.Math-Intersection.cppm
index 545e8b9..bf003bb 100755
--- a/interfaces/Crafter.Math-Intersection.cppm
+++ b/interfaces/Crafter.Math-Intersection.cppm
@@ -197,17 +197,41 @@ namespace Crafter {
     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]);
 
-        T distSq = 0.0f;
+        T distSq = T(0);
 
         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, 0.0f);
+            excess = std::max(excess, T(0));
             distSq += excess * excess;
         }
 
+        // 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;
+        }
+
+        // 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>::Zero();
+                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;
     }
 }
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