Is there an easy way to join two points by two circular arcs given their
tangents?
Input:
A,B - endpoints
a,b - their tangents (oriented parallel to the arcs)
where A+at and B+bs are skew lines (it's easy to handle the planar case)
Output:
C,D - arc centers
arc normals and radii can be calculated easily from these
E - intersection point of both points
together with the arcs' common tangent vector it will be used to cut the
tori.

I think (after some analysing) it has an infinite number of solutions,
parametrised by a real number.

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