function [ok,tp,tq] = linenear(pa,pb,pc,pd)
%LINENEAR calc. the nearest points on line segments embedded
%in d-dimensions. Line paramters are bounded on [-1,+1].

%-----------------------------------------------------------
%   Darren Engwirda : 2017 --
%   Email           : de2363@columbia.edu
%   Last updated    : 10/10/2017
%-----------------------------------------------------------

    m1 = (pa+pb) * +.5 ;
    D1 = (pb-pa) * +.5 ;

    m2 = (pc+pd) * +.5 ;
    D2 = (pd-pc) * +.5 ;

    r1 = sum(m2.*D1,2) ...
       - sum(m1.*D1,2) ;
    r2 = sum(m1.*D2,2) ...
       - sum(m2.*D2,2) ;

    A1 = sum(D1.*D1,2) ;
    A2 =-sum(D1.*D2,2) ;
    A3 =-sum(D1.*D2,2) ;
    A4 = sum(D2.*D2,2) ;

    dd = A1.*A4 - A2.*A3 ;

    tp = A4.*r1 - A2.*r2 ;
    tq =-A3.*r1 + A1.*r2 ;

    rt = max(abs([A1,A2,A3,A4]),[],2);
    rt = rt * eps ^ .8 ;

    ok = abs(dd) > +rt ;

    tp(~ok) = +0. ;
    tq(~ok) = +0. ;

    tp(ok) = tp(ok) ./ dd(ok) ;
    tq(ok) = tq(ok) ./ dd(ok) ;

end


