/// <summary>
/// Determines whether the given sphere intersects the current instance of <see cref="ConeF"/>.
/// </summary>
/// <param name="sphere">The sphere to check.</param>
/// <returns>True if the given sphere intersects the current instance of <see cref="ConeF"/>; False otherwise.</returns>
public bool Intersects(SphereF sphere)
{
float sinAngle = MathEx.Sin(Angle);
float cosAngle = MathEx.Cos(Angle);
float invSin = 1.0f / sinAngle;
float cosSqr = cosAngle * cosAngle;
Vector3F cmv = sphere.Origin - Origin;
Vector3F d = cmv + (sphere.Radius * invSin) * Axis;
float lengthSqr = d.LengthSquared();
float e = Vector3F.Dot(d, Axis);
if (e > 0 && e * e >= lengthSqr * cosSqr)
{
float sinSqr = sinAngle * sinAngle;
lengthSqr = cmv.LengthSquared();
e = -Vector3F.Dot(cmv, Axis);
if (e > 0.0f && e * e >= lengthSqr * sinSqr)
{
float rSqr = sphere.Radius * sphere.Radius;
return(lengthSqr <= rSqr);
}
return(true);
}
return(false);
}
