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object orientation from surface normal

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I do have a player controllable object that i can turn left and right. The object is a 3D shape and sits in a 3D landscape.
The orientation (the yaw) is the culmination of all turning taken so far. There is also the surfacenormal of the current position, represented by a 3d vector.

Since i am very new at this i do have trouble understanding how to combine this information in order to render the object with the correct orientation. That is, to apply the correct pitch and roll so it would look like tilting with the surface.

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