From b868e31cb3cbcd703f647db6fc766ae97ccd8a03 Mon Sep 17 00:00:00 2001
From: Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>
Date: Sat, 7 Mar 2026 12:09:00 +0100
Subject: [PATCH] sphere box test

---
 interfaces/Crafter.Math-Intersection.cppm | 18 ++++++++
 interfaces/main.cpp                       | 54 +----------------------
 2 files changed, 20 insertions(+), 52 deletions(-)

diff --git a/interfaces/Crafter.Math-Intersection.cppm b/interfaces/Crafter.Math-Intersection.cppm
index 14b0aa9..d278878 100755
--- a/interfaces/Crafter.Math-Intersection.cppm
+++ b/interfaces/Crafter.Math-Intersection.cppm
@@ -192,4 +192,22 @@ namespace Crafter {
 
         return true;
     }
+
+    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[4][0], boxMat[4][1], boxMat[4][2]);
+
+        T distSq = 0.0f;
+
+        for (std::uint32_t i = 0; i < 3; ++i)
+        {
+            Vector<T, 3, 0> axis(boxMat[i][0], boxMat[i][1], boxMat[i][2]);
+            T dist = Vector<T, 3, 0>::Dot(d, axis);
+            T excess = std::fabs(dist) - boxSize.v[i];
+            excess = std::max(excess, 0.0f);
+            distSq += excess * excess;
+        }
+
+        return distSq <= sphereRadius * sphereRadius;
+    }
 }
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diff --git a/interfaces/main.cpp b/interfaces/main.cpp
index b7e3b23..57997c6 100644
--- a/interfaces/main.cpp
+++ b/interfaces/main.cpp
@@ -1,59 +1,9 @@
+#include <cassert>
 import Crafter.Math;
 import std;
 
 using namespace Crafter;
 
 int main() {
-    // Intersection Test
-
-    // Define Box A (size and matrix for transformation)
-    Vector<float, 3, 0> sizeA(1.0f, 1.0f, 1.0f);  // Box A size
-    MatrixRowMajor<float, 4, 3, 1> boxA;
-    boxA.m[0][0] = 1.0f; boxA.m[1][0] = 0.0f; boxA.m[2][0] = 0.0f;
-    boxA.m[1][0] = 0.0f; boxA.m[1][1] = 1.0f; boxA.m[2][1] = 0.0f;
-    boxA.m[2][0] = 0.0f; boxA.m[1][2] = 0.0f; boxA.m[2][2] = 1.0f;
-
-    // Define Box B (size and matrix for transformation)
-    Vector<float, 3, 0> sizeB(1.0f, 1.0f, 1.0f);  // Box B size
-    MatrixRowMajor<float, 4, 3, 1> boxB;
-    boxB.m[0][0] = 1.0f; boxB.m[1][0] = 0.0f; boxB.m[2][0] = 0.0f;
-    boxB.m[1][0] = 0.0f; boxB.m[1][1] = 1.0f; boxB.m[2][1] = 0.0f;
-    boxB.m[2][0] = 0.0f; boxB.m[1][2] = 0.0f; boxB.m[2][2] = 1.0f;
-
-    // Apply a small translation to box B (so that they overlap)
-    boxB.m[0][3] = 0.5f;
-    boxB.m[1][3] = 0.5f;
-    boxB.m[2][3] = 0.0f;
-
-    // Check if the boxes intersect (they should, as they're overlapping)
-    bool result = IntersectionTestOrientedBoxOrientedBox(sizeA, boxA, sizeB, boxB);
-    std::cout << result << std::endl;
-
-
-    // Miss Test
-
-    // Define Box A (size and matrix for transformation)
-    Vector<float, 3, 0> sizeC(1.0f, 1.0f, 1.0f);  // Box C size
-    MatrixRowMajor<float, 4, 3, 1> boxC;
-    boxC.m[0][0] = 1.0f; boxC.m[1][0] = 0.0f; boxC.m[2][0] = 0.0f;
-    boxC.m[1][0] = 0.0f; boxC.m[1][1] = 1.0f; boxC.m[2][1] = 0.0f;
-    boxC.m[2][0] = 0.0f; boxC.m[1][2] = 0.0f; boxC.m[2][2] = 1.0f;
-
-    // Define Box D (size and matrix for transformation)
-    Vector<float, 3, 0> sizeD(1.0f, 1.0f, 1.0f);  // Box D size
-    MatrixRowMajor<float, 4, 3, 1> boxD;
-    boxD.m[0][0] = 1.0f; boxD.m[1][0] = 0.0f; boxD.m[2][0] = 0.0f;
-    boxD.m[1][0] = 0.0f; boxD.m[1][1] = 1.0f; boxD.m[2][1] = 0.0f;
-    boxD.m[2][0] = 0.0f; boxD.m[1][2] = 0.0f; boxD.m[2][2] = 1.0f;
-
-    // Apply a large translation to box D (so that they do not intersect)
-    boxD.m[0][3] = 3.0f;
-    boxD.m[1][3] = 3.0f;
-    boxD.m[2][3] = 0.0f;
-
-    // Check if the boxes do not intersect (they shouldn't, as they are far apart)
-    bool missResult = IntersectionTestOrientedBoxOrientedBox(sizeC, boxC, sizeD, boxD);
-    std::cout << missResult << std::endl;
-
-    return 0;
+ 
 }
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