I am trying to determine the point at which a line segment intersect a circle. For example, given any point between P0 and P3 (And also assuming that you know the radius), what is the easiest method to determine P3?

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You have a system of equations. The circle is defined by:
x^2 + y^2 = r^2. The line is defined byy = y0 + [(y1 - y0) / (x1 - x0)]·(x - x0). Substitute the second into the first, you getx^2 + (y0 + [(y1 - y0) / (x1 - x0)]·(x - x0))^2 = r^2. Solve this and you’ll get 0-2 values for x. Plug them back into either equation to get your values for y.