SharpMath.float3x3.MakeRot C# (CSharp) Method

        public float3x3 MakeRot( float3 _from, float3 _to )
        {
            float3	v = _from.Cross( _to );
            float	c = _from.Dot( _to );
            float	k = 1.0f / (1.0f + c);

            m[0, 0] = v.x*v.x*k + c;	m[0, 1] = v.x*v.y*k + v.z;	m[0, 2] = v.x*v.z*k - v.y;
            m[1, 0] = v.y*v.x*k - v.z;	m[1, 1] = v.y*v.y*k + c;	m[1, 2] = v.y*v.z*k + v.x;
            m[2, 0] = v.z*v.x*k + v.y;	m[2, 1] = v.z*v.y*k - v.x;	m[2, 2] = v.z*v.z*k + c;

            return this;
        }