Look for older papers. They are for various reasons often much easier to read. Here is one example from 1997: https://cadxfem.org/inf/Fast%20MinimumStorage%20Ra

Look for older papers. They are for various reasons often much easier to read. Here is one example from 1997: https://cadxfem.org/inf/Fast%20MinimumStorage%20RayTriangle%20Intersection.pdf https://cadxfem.org/inf/Fast%20MinimumStorage%20RayTriangle%... It's only seven pages and the math is simple for someone to understand with basic linear algebra knowledge. Despite that, it has been cited thousands of times.