public void ConstrainedAlignAxis(int nAxis, Vector3d vTo, Vector3d vAround)
{
Vector3d axis = GetAxis(nAxis);
double fAngle = MathUtil.PlaneAngleSignedD(axis, vTo, vAround);
Quaterniond rot = Quaterniond.AxisAngleD(vAround, fAngle);
Rotate(rot);
}
public static Quaterniond FromToConstrained(Vector3d vFrom, Vector3d vTo, Vector3d vAround)
{
double fAngle = MathUtil.PlaneAngleSignedD(vFrom, vTo, vAround);
return(Quaterniond.AxisAngleD(vAround, fAngle));
}