Finding the nearest point on a geometric ray with respect to an another geometric ray

A definition is needed to find the nearest point on a geometric ray with respect to an another geometric ray. Praneeth Chakravatrhula provided this piece of code in the past for this reason:

def findNearestPoints(vec1, vec2, ray):
  # written by praneeth chakravarthula
    # Refer to the concept of skew lines and line-plane intersection for the following math.
    p1 = vec1[0].reshape(3,)
    d1 = vec1[1].reshape(3,)
    p2 = vec2[0].reshape(3,)
    d2 = vec2[1].reshape(3,)
    # normal to both vectors
    n = np.cross(d1, d2)
    # if the rays intersect
    if np.all(n)==0:
      point, distances = ray.CalculateIntersectionOfTwoVectors(vec1, vec2)
      c1 = c2 = point
    else:
      # normal to plane formed by vectors n and d1
      n1 = np.cross(d1, n)
      # normal to plane formed by vectors n and d2
      n2 = np.cross(d2, n)
      # nearest distance point to vec2 along vec1 is equal to
      # intersection of vec1 with plane formed by vec2 and normal n
      c1 = p1 + (np.dot((p2-p1), n2)/np.dot(d1, n2))*d1
      # nearest distance point to vec1 along vec2 is equal to
      # intersection of vec2 with plane formed by vec1 and normal n
      c2 = p2 + (np.dot((p1-p2), n1)/np.dot(d2, n1))*d2
    return c1, c2

The submodule raytracing can take advantage from this definition. So the ask is to place this piece of code to ray.py that can be found in the odak/raytracing/ray.py directory of Odak. The steps here:

[ ] Fork odak on github.
[ ] Add the definition to odak/raytracing/ray.py.
[ ] Commit on your fork.
[ ] Start a pull request attached to this issue.

Thanks!

kaanaksit / odak

Finding the nearest point on a geometric ray with respect to an another geometric ray #4