diff --git a/libraries/shared/src/GeometryUtil.cpp b/libraries/shared/src/GeometryUtil.cpp
index b6fca03403..23d2f0f71b 100644
--- a/libraries/shared/src/GeometryUtil.cpp
+++ b/libraries/shared/src/GeometryUtil.cpp
@@ -547,6 +547,28 @@ bool doLineSegmentsIntersect(glm::vec2 r1p1, glm::vec2 r1p2, glm::vec2 r2p1, glm
          (d4 == 0 && isOnSegment(r1p1.x, r1p1.y, r1p2.x, r1p2.y, r2p2.x, r2p2.y));
 }
 
+bool findClosestApproachOfLines(glm::vec3 p1, glm::vec3 d1, glm::vec3 p2, glm::vec3 d2,
+                                // return values...
+                                float& t1, float& t2) {
+    // https://math.stackexchange.com/questions/1993953/closest-points-between-two-lines/1993990#1993990
+    // https://en.wikipedia.org/wiki/Skew_lines#Nearest_Points
+    glm::vec3 n1 = glm::cross(d1, glm::cross(d2, d1));
+    glm::vec3 n2 = glm::cross(d2, glm::cross(d1, d2));
+
+    float denom1 = glm::dot(d1, n2);
+    float denom2 = glm::dot(d2, n1);
+
+    if (denom1 != 0.0f && denom2 != 0.0f) {
+        t1 = glm::dot((p2 - p1), n2) / denom1;
+        t2 = glm::dot((p1 - p2), n1) / denom2;
+        return true;
+    } else {
+        t1 = 0.0f;
+        t2 = 0.0f;
+        return false;
+    }
+}
+
 bool isOnSegment(float xi, float yi, float xj, float yj, float xk, float yk)  {
   return (xi <= xk || xj <= xk) && (xk <= xi || xk <= xj) &&
          (yi <= yk || yj <= yk) && (yk <= yi || yk <= yj);
@@ -1813,4 +1835,4 @@ bool solve_quartic(float a, float b, float c, float d, glm::vec4& roots) {
 
 bool computeRealQuarticRoots(float a, float b, float c, float d, float e, glm::vec4& roots) {
     return solve_quartic(b / a, c / a, d / a, e / a, roots);
-}
\ No newline at end of file
+}
diff --git a/libraries/shared/src/GeometryUtil.h b/libraries/shared/src/GeometryUtil.h
index 764eeb1500..d786d63980 100644
--- a/libraries/shared/src/GeometryUtil.h
+++ b/libraries/shared/src/GeometryUtil.h
@@ -150,6 +150,7 @@ int clipTriangleWithPlane(const Triangle& triangle, const Plane& plane, Triangle
 int clipTriangleWithPlanes(const Triangle& triangle, const Plane* planes, int planeCount, Triangle* clippedTriangles, int maxClippedTriangleCount);
 
 bool doLineSegmentsIntersect(glm::vec2 r1p1, glm::vec2 r1p2, glm::vec2 r2p1, glm::vec2 r2p2);
+bool findClosestApproachOfLines(glm::vec3 p1, glm::vec3 d1, glm::vec3 p2, glm::vec3 d2, float& t1, float& t2);
 bool isOnSegment(float xi, float yi, float xj, float yj, float xk, float yk);
 int computeDirection(float xi, float yi, float xj, float yj, float xk, float yk);