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Efficiently Building a Matrix to Rotate One Vector to Another
Tomas Möller, John F. Hughes
In Journal of Graphics Tools, 4(4), 1999.

Abstract: We describe an efficient (no square roots or trigonometric functions) method to construct the 3×3 matrix that rotates a unit vector f into another unit vector t, rotating about the axis f×t. We give experimental results showing this method is faster than previously known methods. An implementation in C is provided.

BibTeX format:

@article{Moller:1999:EBA,
  author = {Tomas Möller and John F. Hughes},
  title = {Efficiently Building a Matrix to Rotate One Vector to Another},
  journal = {Journal of Graphics Tools},
  volume = {4},
  number = {4},
  pages = {1--4},
  year = {1999},
}

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