http://www.gamedev.net/reference/articles/article1199.asp
Part 3 will probably be helpful (vector interpolation), I dont have time to
figure out how to do this in Java3D but that should give you a good idea what
needs to be done, which is cross product of the 2 vectors to create a axis of
rotation and then a dot product of the normalized 2 vectors, apply an inverse
cos (acos), should give you a way to create axis angle information that can
be used to create a matrix.
Leyland Needham
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