D3DXMATRIX mTransform = *pCollisionRectangle->GetTransform();
	D3DXMATRIX mInverseTransform;
	D3DXMatrixInverse(&mInverseTransform, NULL, &mTransform);

	D3DXVECTOR4 vLocalPoint4;
	D3DXVECTOR3 vLocalPoint; 
	D3DXVec3Transform(&vLocalPoint4, &pCollisionSphere->GetOrigin(), &mInverseTransform);
	vLocalPoint = D3DXVECTOR3(vLocalPoint4.x, vLocalPoint4.y, vLocalPoint4.z);
	clamp(vLocalPoint.x, -pCollisionRectangle->GetExtents().x, pCollisionRectangle->GetExtents().x);
	clamp(vLocalPoint.y, -pCollisionRectangle->GetExtents().y, pCollisionRectangle->GetExtents().y);
	vLocalPoint.z = 0;

	D3DXVECTOR4 vClosest4;
	D3DXVec3Transform(&vClosest4, &vLocalPoint, &mTransform);
	D3DXVECTOR3 vClosest(vClosest4.x, vClosest4.y, vClosest4.z);
	
	D3DXVECTOR3 vDelta = pCollisionSphere->GetOrigin() - vClosest;

	float dist = D3DXVec3Dot(&vDelta, &vDelta);

	if(dist > pCollisionSphere->GetRadius() * pCollisionSphere->GetRadius())
		return NO_COLLISION;

	float d = sqrt(dist);

	D3DXVECTOR3 vCollisionNormal = vDelta / d;
	float fIntersectionDepth = (pCollisionSphere->GetRadius() - d);

	if(fIntersectionDepth == 0.0f)
		return RESTING_CONTACT;

	return HAS_COLLISION;

Quote:Original post by haegarr
However, that makes the correction without taking any history into account. What I mean is that if the collision occured due to a motion of the (e.g.) sphere, then repelling the sphere in an arbitrary direction and amount (here arbitrary w.r.t. the motion) may look unnaturally. In this case the sphere seems to suddenly stick with the plane as soon as the collision occurs. This may or may not what you want. So you have to do the collision correction w.r.t. the "physical" effect that you've in mind, but we don't know what that is ...

Quote:Original post by oliii
1) find point on box surface closest to the sphere centre.
2) if point outside sphere, no collision.
3) else reflect against normal (point - sphere.centre); That's your collision plane.

Quote:I know how to detect collision with a sphere and rectangle, but if the sphere and rectangle are colliding and the sphere is inside the rectangle, I am not sure what is the proper way to adjust the sphere so it is no longer intersecting it.

Quote:Original post by haegarr
The simplest correction would be to shift the sphere's origin along what you've called the collision normal, because the intersection depth is given for that direction:
pCollisionSphere->GetOrigin() += vCollisionNormal * fIntersectionDepth

Quote:Well I just tested implementing browns tutorial with my code, and I must have messed something up to say the least.