d = √((x₂−x₁)² + (y₂−y₁)²)
External tangency: d = r₁ + r₂
Internal tangency: d = |r₁ − r₂|
a = (r₁² − r₂² + d²) / (2d)
h = √(r₁² − a²)
P = C₁ + (a/d)(C₂ − C₁)
I₁,₂ = P ± (h/d)(−(y₂−y₁), x₂−x₁)