I'm taking as referene the next code from www.peroxide.dk/papers/collision/collision.pdf .
This is the most famous document released and I have some doubts about the concepts involved in.
I have made a test myself working with a soup of triangles and:
The foundCollision flag return TRUE only when the centre of the sphere hits the triangle.
I think that this "foundCollision" flag should return true when the moving sphere "touches" the triangle despite the distance of the triangle to the sphere's centre.
What I'm doing wrong? May be, I'm not correctly passing the parameters through the function? :s
The implementation of the code is ok, because the algoryhtm is working, but I have a doubt about that what I posted,