## Intersecting Line Against Cylinder

Consider a cylinder with radius \( r \) and length \( \ell \) whose axis contains points \( \mathbf{q}_0 \) and \( \mathbf{q}_1 \). Let \( \mathbf{L}(t) = \mathbf{p}_0 + t (\mathbf{p}_1 - \mathbf{p}_0) \) be a line passing through points \( \mathbf{p}_0 \) and \( \mathbf{p}_1 \), and \(...
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