VEX code for plane to plane orientation.

planeToPlaneOrientation.h

matrix planeToPlaneOrientation(vector upos; vector u1; vector u2; vector vpos; vector v1; vector v2) {
    vector u3 = normalize(cross(u1, u2));
    vector v3 = normalize(cross(v1, v2));
    
    matrix3 U = set(u1, u2, u3);
    matrix3 V = set(v1, v2, v3);
    
    matrix3 rotmat = transpose(U) * V;
    
    matrix mat = ident();
    translate(mat, -upos);
    mat *= rotmat;
    translate(mat, vpos);
    
    return mat;
}