Ray Sphere 求交点

Ray：

// data member
Vector3f Origin;
Vector3f Direction;

设Ray的起点$Origin$为$O(x_0 , y_0 , z_0)$，$Direction$为$\vec{D}(dx , dy , dz)$
$\begin{equation} \begin{cases} x = x_0 + t * dx \\ y = y_0 + t * dy \\ z = z_0 + t * dz \end{cases} \end{equation}$

Sphere:

// data member
Vector3f Center;
float Radius;

球心$C(cx , cy , cz)$ ， 半径$r$
$(x - cx)^2 + (y - cy)^2 + (z - cz)^2 = r^2$

将Ray的方程带入球面方程：
(x0−cx+t∗dx)2+(y0−cy+t∗dy)2+(z0−cz+t∗dz)2=r