/// <summary>Finds the lowest distance of point P to a line segment defined by points A and B</summary>
public static float distance_from_point_to_segment(crds2 a, crds2 b, crds2 p)
{
float l2 = a.dist_squared(b);
if (l2 < 0.000001f) return a.dist(p); // case : a == b
float t = crds2.dot(p-a, b-a) / l2;
if (t < 0f) return a.dist(p);
if (t > 1f) return b.dist(p);
crds2 proj = a.lerp(b, t);
return proj.dist(p);
}
