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How to calculate objects required (new) Orientation

I have an object, and know its current RigidBody.GetPosition, and its RigidBody.GetOrientation, and I know where I want the front of the object to now face (its desired TARGET location to move to).  I have never mastered rotations (sighs).

- so given Vectors POS and TARGET (and current Orientation), how do I calculate (using Sansar C# functions/math) what to set into its RigidBody.SetOrientation to make it face the target?

God I have rotating vectors, and Quaternions.

 

 

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