/// Align a matrix to a target, using an up vector
///
/// @param[in] pos The position we're targeting from
/// @param[in] targetPos The position we're targeting at
/// @param[in] upVector The up vector, to avoid gimbal lock. Defaults to +Y
/// @return A matrix with an offset of 'pos', targeting 'targetPos' with its Z axis.
static inline Matrix Target(const Vector &pos, const Vector &targetPos, const Vector &upVector = Vector(0.0, 1.0, 0.0))
{
	Matrix m(DC);                   // New matrix. Don't call default constructor, as we're filling the values now anyway.
	m.off = pos;                    // Set position
	m.v3 = !(targetPos - pos);      // Z axis targets 'targetPos'
	m.v1 = !Cross(m.v3, upVector);  // X axis perpendicular to Z axis and up vector
	m.v2 = !Cross(m.v3, m.v1);      // Y axis perpendicular to Z and X axis

	// Return result
	return m;
}