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rotating object around certain point in space/aligning meshes

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I have 2 random rotated cubes with the same size and I want to align them I thought of making it this way: 1. Find 2 corresponding vertices in both cubes, translate second cube until vertices overlap 2. Find another corresponding pair of vertices and find a,b,c angle between them. 3. (how?) put rotation center in first vertex and rotate second cube to -a,-b,-c 4. Find third corresponding pair and find a1,b1,c1 angle between them. 5. Rotate second cube to -a1,-b1,-c1 Is there better way, and how to shift rotation center? Thanks

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