https://www.ryanjuckett.com/biarc-interpolation/ https://lucidar.me/en/mathematics/least-squares-fitting-of-circle/ https://www.youtube.com/watch?v=NlU1m-OfumE https://github.com/manticorp/GCodeArcOptimiser/
https://mathworld.wolfram.com/Point-LineDistance3-Dimensional.html https://math.stackexchange.com/questions/1905533/find-perpendicular-distance-from-point-to-line-in-3d