title: How to detect Line segment intersection with Cylinder?
body: <p>Say we have a <code>3d</code> space, Line segment defined by its start and end points (<code>A</code> <code>{Ax, Ay, Az}</code>, <code>B</code> <code>{Bx, By, Bz}</code>) and cylinder defined by its center position <code>C</code> <code>{Cx, Cy, Cz}</code>, radius <code>R</code> and height <code>H</code>. How to get a fact of intersection and if intersection happened than where?</p>