title: rotate a Vector to reach orthogonality with another vector
body: <p>I have 2 vectors <code>(V1{x1, y1, z1}, V2{x2, y2, z2})</code> , and I want rotate <code>V1</code> around <em>X-Axis</em>, <em>Y-Axis</em> and <em>Z-Axis</em> to be parallel to <code>V2</code>. I want to find 3 rotation angles.
  Is there any general formula I can use to find them?</p>