Language: C++

#include<bits/stdc++.h>
using namespace std;

double eps = 1e-8, PI = acos(-1);

double Sqrt(double x){
  return (x<0?0:sqrt(x));
}

bool eq(double a, double b){
  return (-eps<a-b&&a-b<eps);
}

struct Point{
  double x,y,z;
  Point (double a=0,double b=0,double c=0): x(a),y(b),z(c) {}
  Point operator + (const Point &p)const{
    return Point(x+p.x,y+p.y,z+p.z);
  }
  Point operator - (const Point &p)const{
    return Point(x-p.x,y-p.y,z-p.z);
  }
  Point operator * (const double &r)const{
    return Point(x*r,y*r,z*r);
  }
  Point operator / (const double &r)const{
    return Point(x/r,y/r,z/r);
  }
};

typedef Point Vector;

double dot(Point a,Point b){
  return a.x*b.x+a.y*b.y+a.z*b.z;
}

Point cross(Point a,Point b){
  double nx=a.y*b.z-b.y*a.z;
  double ny=a.z*b.x-b.z*a.x;
  double nz=a.x*b.y-b.x*a.y;
  return Point(nx,ny,nz);
}

double norm(Point a){
  return dot(a,a);
}

double abs(Point a){
  return sqrt( norm(a) );
}


struct Line{
  Point p;
  Vector v;
  Line(Point a=Point(),Vector b=Vector()):p(a),v(b){}
};


struct Plane{
  Point p;
  Vector v0,v1;
  Plane(Point a=Point(),Vector b=Vector(),Vector c=Vector())
    :p(a),v0(b),v1(c){}
};

Point cross(Plane s){
  return cross(s.v0,s.v1);
}

bool isParallel(Vector s,Vector t){
  return eq( 0.0 , abs(cross(s,t)) );
}

bool isParallel(Plane s,Vector t){
  return eq(0,dot(cross(s.v0,s.v1),t));
}

bool isParallel(Plane s,Plane t){
  return isParallel( cross(s.v0,s.v1) , cross(t.v0,t.v1) );
}


double getDistance(Plane s,Point t){
  Vector A=cross(s.v0,s.v1);
  return dot(A,t-s.p)/abs(A);
}

Point getCrossPoint(Plane s,Line t){
  double A=getDistance(s,t.p);
  double B=getDistance(s,t.p+t.v);
  return t.p+t.v*A/(A-B);
}

Line getCrossLine(Plane s,Plane t){
  Point A;
  if(isParallel(s,t.v0))A=getCrossPoint(s,Line(t.p,t.v1));
  else A=getCrossPoint(s,Line(t.p,t.v0));
  return Line(A,cross(cross(s),cross(t)));
}

struct Sphere{
  Point p;
  double r;
  Sphere(Point a,double b):p(a),r(b){}
};

vector<Point> getCrossPoint(Sphere s,Line t){
  vector<Point> res;
  Vector a=s.p-t.p;
  Vector b=t.v;
  double base=dot(a,b)/abs(b);
  double hh=norm(cross(a,b))/norm(b);
  if(s.r*s.r+eps < hh )return res;
  double w=Sqrt( s.r*s.r - hh );
  res.push_back(t.p+t.v/abs(t.v)*(base-w));
  res.push_back(t.p+t.v/abs(t.v)*(base+w));
  return res;
}

double getTime(Line s,Point t){
  double res= abs(t-s.p)/abs(s.v);
  return (dot(t-s.p,s.v)>0.0?res:-res);
}

string solve(){
  Plane s,t;
  cin>>s.p.x>>s.p.y>>s.p.z;
  cin>>s.v0.x>>s.v0.y>>s.v0.z;
  cin>>s.v1.x>>s.v1.y>>s.v1.z;
  cin>>t.p.x>>t.p.y>>t.p.z;
  cin>>t.v0.x>>t.v0.y>>t.v0.z;
  cin>>t.v1.x>>t.v1.y>>t.v1.z;
  if( isParallel(s,t) )return "NO";
  Line u=getCrossLine(s,t);
  
  vector<Point> A=getCrossPoint(Circle(s.p,1),u);
  vector<Point> B=getCrossPoint(Circle(t.p,1),u);
  if(min(A.size(),B.size())<2)return "NO";
  
  if(getTime(u,A[0]) > getTime(u,A[1]))swap(A[0],A[1]);
  if(getTime(u,B[0]) > getTime(u,B[1]))swap(B[0],B[1]);
  
  if(getTime(u,A[0]) < getTime(u,B[0])&&
     getTime(u,B[0]) < getTime(u,A[1])&&
     getTime(u,A[1]) < getTime(u,B[1]))return "YES";

  if(getTime(u,B[0]) < getTime(u,A[0])&&
     getTime(u,A[0]) < getTime(u,B[1])&&
     getTime(u,B[1]) < getTime(u,A[1]))return "YES";

  return "NO";
}


int main(){
  cout<<solve()<<endl;
  return 0;
}

Compiler output:
a.cc: In function 'std::string solve()':
a.cc:137:33: error: 'Circle' was not declared in this scope
  137 |   vector<Point> A=getCrossPoint(Circle(s.p,1),u);
      |                                 ^~~~~~