JavaFX 3D example on how to arbitrarily rotate one 3D Node to "look at" another.

gistfile1.txt

    public static Affine lookAt(Node node, Point3D from, Point3D to, boolean applyTranslate) {
        //zVec is "forward"
        Point3D zVec = to.subtract(from).normalize();
        //ydir is "up"
        Point3D ydir = Rotate.Y_AXIS;
        Point3D tangent0 = zVec.crossProduct(ydir);
        //handle edge case where to location is precisely the "up" direction
        if(tangent0.magnitude() < 0.001){
            //pick a different axis to use
            ydir = Rotate.X_AXIS;
            tangent0 = zVec.crossProduct(ydir);
        }
        tangent0.normalize();
        ydir = zVec.crossProduct(tangent0);
        
        Point3D xVec = ydir.normalize().crossProduct(zVec).normalize();
        Point3D yVec = zVec.crossProduct(xVec).normalize();
        
        Affine affine = new Affine(
                xVec.getX(), yVec.getX(), zVec.getX(), 0,
                xVec.getY(), yVec.getY(), zVec.getY(), 0,
                xVec.getZ(), yVec.getZ(), zVec.getZ(), 0);
        if(applyTranslate){
            affine.setTx(from.getX());
            affine.setTy(from.getY());
            affine.setTz(from.getZ());
        }        
        node.getTransforms().setAll(affine);
        return  affine;
    }