Outward facing normal vector from points p0,p1,p2 | |

transform normal from space A to B with transform matrix M | |

transform a normal formed from cross prodect from space A to B | |

Distance from point q to line v, u = q-p, p = point on line | |

Alternate distance formula | |

Time parameters for distance between to parameteric lines at points | |

Distance obtained from the above time parameters between two parametric lines | |

Distance between two lines if they are parallel (determinant = 0) | |

implicit plane representation, n is the normal to the plane, d = distance from plane to origin | |

distance d from point p to plane f | |

Reflection of point p through normalized plane f | |

Reflection matrix through plane f | |

Intersection point of a line L(t) = p + tv with plane f | |

Intersection point of 3 planes (divisor is scalar triple product) | |

Intersection point of two planes, | |

Transformation of plane f in space A to space B with transform mat H | |

Plucker coords rep of a line, v = direction, and p1,p2 are any points on the line (called 'moment') | |

Plucker coords rep of a 4D point vector with w component | |

Distance between two lines in Plucker rep |

Line transform from mat H, M = upper 3x3 matrix from H, t = last column (translation) of H |