--- a/python/prediction.py	Wed Apr 02 17:25:50 2014 -0400
+++ b/python/prediction.py	Wed Apr 02 17:45:18 2014 -0400
@@ -400,12 +400,14 @@
         p2 = obj2.getPositionAtInstant(currentInstant)
         v1 = obj1.getVelocityAtInstant(currentInstant)
         v2 = obj2.getVelocityAtInstant(currentInstant)
-        
-        ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
-        if ttc:
-            return [SafetyPoint(moving.Point(), 1., ttc)], []
-        else:
-            return [],[]
+        intersection = moving.intersection(p1, p2, v1, v2)
+
+        if intersection != None:
+            ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
+            if ttc:
+                return [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
+            else:
+                return [],[]
 
 ####
 # Other Methods