How do we get the formula? First, let's say point S' on tha plane has the shortest distance to the point S. Then, the line segment connecting S and S' must be perpendicular to the plane. Then, we form a right triangle PS'S. If the angle PSS' is A, then the length SS' (distance from S to S') is
A further explanation on the equation above. Since n could be facing the opposite direction that cause the dot product to be negative, we put in the absolute sign to ensure we get non-negative number for distance.
You may try to move point P or D to move the plane, P or S to observe the changes of the distance.
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