/// <summary>
/// Calculates the rotation required to turn from source to dest
/// </summary>
/// <param name="sourcePoint"></param>
/// <param name="destPoint"></param>
/// <param name="UpVector"></param>
/// <returns></returns>
public static Quaterniond LookAt(Vector3d sourcePoint, Vector3d destPoint, Vector3d UpVector)
{
Vector3d forwardVector = Vector3d.Normalize(destPoint - sourcePoint);
Vector3d rotAxis = Vector3d.Cross(UpVector, forwardVector);
double dot = Vector3d.Dot(UpVector, forwardVector);
Quaterniond q = new Quaterniond(rotAxis.X, rotAxis.Y, rotAxis.Z, dot + 1);
return(q.Normalized());
}
