BOOL Line_Plane_Intersection(VECTOR* RESULT, VECTOR* line_p0, VECTOR* line_p1, VECTOR* plane_p0, VECTOR* plane_N)
{
   //CHECK THAT THE "SENSITIVE" INPUTS ARE VALID
   //the two points on the line must be different
   //the plane's normal cannot be null
   if(vec_dist(line_p0,line_p1)==0||vec_dist(nullvector,plane_N)==0)
	{
		return(0);
	}
	//GET PARAMETRIC EQUATIONS OF THE LINE
	//F(t)= (x0,y0,z0) + t(x1-x0,y1-y0,z1-z0)
	//resolving the above formula for each component, the resulting equations would be
	//X=x0+t(x1-x0)
	//Y=y0+t(y1-y0)
	//Z=z0+t(z1-z0)
	//programming-wise we cant store the formulas with "t" since we still don't know it's value
	//so we will temporarily store the independant terms and t's coeficients separately
	//and for the time being we ignore the "t"s
	VECTOR line_indeps;//independant terms (origin point)
	VECTOR line_coefs;//t's coeficients (direction vector)
	vec_set(line_indeps,line_p0);
	vec_set(line_coefs,line_p1);
	vec_sub(line_coefs,line_p0);
	
	//CHECK IF THE LINE IS PARALLEL TO THE PLANE
	//if the line is parallel we stop the function because we won't be able to return a point
	//when it is paralel either there is no point from the line matching any point on the plane
	//or if the line is parallel and on the plane there are an infinite amount of matching points
	//calculate if dot product (n1·v)==0?
	//n1 is the plane's normal and v is the line's direction vector (t's coeficients above)
	if((plane_N.x*line_coefs.x)+(plane_N.y*line_coefs.y)+(plane_N.z*line_coefs.z)==0)
	{
		return(0);
	}
	
	//GET PARAMETRIC EQUATION OF THE PLANE (Ax+By+Cz+D=0)
	//we use the plane's normal vector, a known point from the plane, and a second unknown point on the plane
	//pN=(A,B,C)
	//p0=(x0,y0,z0)
	//p1=(X,Y,Z)
	//get the vector formed by the two points on the plane
	//(X-x0,Y-y0,Z-z0)
	//dot product this vector and the plane's normal
	//(X-x0,Y-y0,Z-z0)·(A,B,C) = (AX-Ax0+BY-By0+CZ-Cz0)
	//group the known terms (-Ax0-By0-Cz0) as a number (D)
	//D=-Ax0-By0-Cz0
	//equate everything to zero and you have the plane's equation
	//Ax+By+Cz+D=0
	var plane_indep;//independant terms grouped as "D"
	VECTOR plane_coefs;//coeficients A,B,C
	plane_indep=-(plane_N.x*plane_p0.x)-(plane_N.y*plane_p0.y)-(plane_N.z*plane_p0.z);//D=-(Ax0)-(By0)-(Cz0)
	vec_set(plane_coefs,plane_N);
	
	//PLUG ECUATIONS OF OUR LINE INTO EQUATION OF THE PLANE
	//Ax+By+Cz+D=0 ->
	//A(x0+t(x1-x0))+B(y0+t(y1-y0))+C(z0+t(z1-z0))+D=0 ->
	//Ax0+At(x1-x0)+By0+Bt(y1-y0)+Cz0+Ct(z1-z0))+D=0
	vec_mul(line_indeps,plane_coefs);
	vec_mul(line_coefs,plane_coefs);
	
	//SOLVE FOR "t" IN OUR "LINE PLUGGED" VERSION OF THE EQUATION OF THE PLANE
	//Ax0+At(x1-x0)+By0+Bt(y1-y0)+Cz0+Ct(z1-z0))+D=0 ->
	//At(x1-x0)+Bt(y1-y0)+Ct(z1-z0) +(Ax0+By0+Cz0) +D = 0 ->
	//t(A(x1-x0)+B(y1-y0)+C(z1-z0)) +(Ax0+By0+Cz0) +D = 0 ->
	//t(A(x1-x0)+B(y1-y0)+C(z1-z0)) +(Ax0+By0+Cz0) = -D ->
	//t(A(x1-x0)+B(y1-y0)+C(z1-z0)) = -D-(Ax0+By0+Cz0) ->
	//t = (-D-(Ax0+By0+Cz0)) / (A(x1-x0)+B(y1-y0)+C(z1-z0)) ->
	var T;
	T=(-plane_indep-(line_indeps.x+line_indeps.y+line_indeps.z))/(line_coefs.x+line_coefs.y+line_coefs.z);
	
	//PLUG "t" BACK INTO EACH EQUATION OF OUR LINE TO GET THE INTERSECTION POINT'S COORDINATES
        //F(t)= (x0,y0,z0) + t(x1-x0,y1-y0,z1-z0)
	//resolving the above formula for each component, the resulting equations would be
	//X=x0+t(x1-x0)
	//Y=y0+t(y1-y0)
	//Z=z0+t(z1-z0)
	RESULT.x=line_p0.x+T*(line_p1.x-line_p0.x);
	RESULT.y=line_p0.y+T*(line_p1.y-line_p0.y);
	RESULT.z=line_p0.z+T*(line_p1.z-line_p0.z);
	//indicate that the line was not parallel to the plane and that
	//we found a unique intersection point that we stored in "RESULT"
	return(1);
}