[Doribelove]

Line3.intersects() returns a (3, 3) array for intersecting lines instead of the documented (3,) intersection point:

from spatialmath import Line3

a = Line3.PointDir([1, 2, 3], [1, 0, 0])
b = Line3.PointDir([1, 2, 3], [0, 1, 0])
a.intersects(b)  # expected array([1., 2., 3.])

The final multiplication in the old expression broadcasts a matrix. Normalizing the cross product also rejects some valid lines represented with small Plücker coordinates.

After the existing intersection predicate succeeds, reuse closest_to_line() to obtain the intersection point. Keep the predicate, tolerance and None result for parallel, coincident and skew lines unchanged. Correct the method's malformed related-method links.

Add 18 regression cases covering the origin and translated intersections, nonorthogonal and spatial directions, either operand order, positive/negative and unequal Plücker scales, and nonintersecting controls.

Validation with current upstream 41e0a4d:

• New regressions before the fix: 15 failed, 3 passed; geometry tests after the fix: 60 passed.
• Full suite on Python 3.12.14: 428 passed, 3 skipped, with 55 subtests passed and 22 warnings.
• Geometry tests on Python 3.10.12: 60 passed, with 2 warnings.
• Repository pre-commit hooks (including Black 23.10.0) and git diff --check pass.