Efficiently Building a Matrix to Rotate One Vector to Another
Tomas Möller, John F. Hughes · Journal of Graphics Tools · 1999
We describe an efficient (no square roots or trigonometric functions) method to const ruct the 3 × 3 matrix that rotates a unit vector f into another unit vector t, rotating about the axis f × t. We give experiment al results showing this method is faster than previously known methods. An implementation in C is provided.