add quaternion utility function

Kav.Framework.csproj

@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <TargetFramework>netstandard2.0</TargetFramework>

Utils/QuaternionUtils.cs

@@ -0,0 +1,18 @@
+using Microsoft.Xna.Framework;
+
+namespace Kav.Utils
+{
+    public static class QuaternionUtils
+    {
+        // assumes that the input vectors are normalized and orthogonal
+        public static Quaternion LookAt(in Vector3 forward, in Vector3 up)
+        {
+            Matrix orientation = Matrix.Identity;
+            orientation.Forward = forward;
+            orientation.Right = Vector3.Normalize(Vector3.Cross(forward, up));
+            orientation.Up = Vector3.Cross(orientation.Right, forward);
+
+            return Quaternion.CreateFromRotationMatrix(orientation);
+        }
+    }
+}