射线与球体相交检测

原理：参照实时碰撞检测算法技术上的原理；但书上的实现有问题。重新实现如下：

C++实现：

  static bool getRaySphereIntersect(vector3d rayOrigin, vector3d rayDir,
        						   vector3d sphereCenter, float sphereRadius,
        						   std::vector<vector3d> &intersectPoint)
        {
        	vector3d v = rayOrigin - sphereCenter;
        	float b = 2.0f * rayDir.dotProduct(v);
        	float c = v.dotProduct(v) - sphereRadius * sphereRadius;
        	float discriminant = (b * b) - (4.0f * c);

        	if (discriminant < 0.0f)return false;

        	discriminant = sqrt(discriminant);

        	float far = (-b + discriminant) / 2.0f;
        	float near = (-b - discriminant) / 2.0f;

        	vector3d  intersectFarPoint = rayOrigin + rayDir*far;
        	vector3d  intersectNearPoint = rayOrigin + rayDir*near;

        	bool res =  (far >= 0.0f || near >= 0.0f);

        	if (res)
        	{
        		if (near > 0 )intersectPoint.push_back(intersectNearPoint);
        		if (far > 0)intersectPoint.push_back(intersectFarPoint);
        	}
        	return res;
        }