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Collision between two lines

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Use 3d rays.
For 2 rays defined parametrically as O+t*D = P, where O is the origin, D is a direction, and t is a distance or time along the direction from the origin.
The intersection of the 2 rays is:
t1 = (((o2-o1) x d2) . (d1 x d2)) / (magnitude (d1 x d2))^2
where . is the dot product of 2 vectors, and x is the cross product. ^2 means squared.
Hope this was helpful!

BTW: if the 2 rays don't intersect, the t return will yield the closest point on the one ray to the other.

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