Direct3D Geometry: Rotation Matrix from Two Vectors?

It's probably more of a typo than a thinko, but acos(A. B) is the angle, not its cosine. Similarly for point 2.

No, you're pretty much doing it the best way possible. I don't think there is a built-in DirectX function that does what you want. For step 4, you can use D3DXMatrixRotationAxis().

Just be careful about the edge cases, such as when |A| or |B| is zero, or when the angle is 0° or 180°.

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