Get where the two lines are closest to eachother P := P0+s*U Q := Q0+t*V With W0 = P0-Q0 */

The total inertial matrix is given by the integral over the volume of the shape of the following matrix: [[ [y^2+z^2, xy, xz], [xy, x^2+z^

Get all timestamps */

naive implementation, to be optimized

naive implementation, to be optimized

Returns the x position at the time of the event

Returns the y position at the time of the event