This document discusses two methods for finding closest points between line segments and points or between two lines: 1) To find the closest point on a line segment to a given point, project the point onto the extended line containing the segment and clamp the projection point to the segment endpoints. 2) To find the closest points between two lines, set up a system of equations requiring the vector between candidate points to be perpendicular to both lines, yielding a 2x2 linear system whose solution gives the closest points. 3) Closest points on non-parallel lines in 3D are unique, while in 2D lines always intersect unless parallel.