3dmath 直线与直线的距离点

这里推导直线与直线的最短距离点。

已知 直线(p1,p2),和（p3,p4）。

 这里附上代码：

public static int LineToLineDistancePoint(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4, out Vector3 rp1,
            out Vector3 rp2)
        {
            rp1 = null;
            rp2 = null;
            Vector3 pa;
            Vector3 pb;
            int i = LineToLinePoint(p1, p2, p3, p4, out pa, out pb);
            if (i == 1)
            {
                rp1 = pa;
                rp2 = pa;
                return 1;
            }

            if (i == -1)
            {
                //平行了
                return 0;
            }

            
            Vector3 E = p3 - p1;
            Vector3 v1 = (p2 - p1).Normalized();
            Vector3 v2 = (p4 - p3).Normalized();
            float n = Dot(v1, v2);
            float k = (Dot(E, v2)*n - Dot(E, v1)) / (n * n - 1);
            float j = k * n - Dot(E , v2);
            rp1 = p1 + k * v1;
            rp2 = p3 + j * v2;
            return 1;
        }