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LookAt and Matrix Math

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Hi Ok what I have: a rotation matrix and two positions(xyz) (rm, p1, p2) rm is the Cameras rotation matrix and p1 is it position. It is currently pointing at (0,0,0) I want the camera pointing at point to p2 which is somewhere in 3D space. What is the algorithm to point the camera to p2(lookat p2)? I don't, at this moment, want to look at the Quaterion solution. Thanks.

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