function lineLineIntersect([x0, y0], [x1, y1], [x2, y2], [x3, y3]) {
const x02 = x0 - x2, y02 = y0 - y2;
const x10 = x1 - x0, y10 = y1 - y0;
const x32 = x3 - x2, y32 = y3 - y2;
const t = (x32 * y02 - y32 * x02) / (y32 * x10 - x32 * y10);
return [x0 + t * x10, y0 + t * y10];
}