/** \brief Finds the parameters t & u corresponding to the two closest points on a pair of line segments.
* The first segment is defined as Pa + A*t, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector
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* instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb.
* Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985.
* P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points
* Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)