Math — Lines & Planes (3D)

\mathbf{r} = \mathbf{a} + t\mathbf{b}

\mathbf{n}\cdot(\mathbf{r} - \mathbf{r}_0) = 0

d = \frac{|\mathbf{n}\cdot\mathbf{r}_0 + d_0|}{|\mathbf{n}|}

\cos\theta = \frac{\mathbf{a}\cdot\mathbf{b}}{|\mathbf{a}||\mathbf{b}|}