Cartesian co-ords to rotations

This is more of a geometry question than an OpenGL one…

I’m trying to draw a cylinder of radius R with its end points defined in cartesian co-ordinates (X1,Y1,Z1) and (X2,Y2,Z2).

The gluCylinder function seems to create a cylinder with one end at (0,0,0) along the Z axis. I guess I have to use glTranslate and glRotate to move the cylinder where I want it, but what combination of rotation angles and axes do I use?


Rich Gilbert.