确定两个Vector3点之间的偏航和俯仰

我读过各种各样的方法来确定两个向量之间的角度，我真的很困惑，所以我需要一些帮助来理解我需要做什么。

下面是我的第一人称相机代码

 public class FPSCamera : Engine3DObject
{
    public Matrix View { get; private set; }
    public Matrix Projeciton { get; private set; }
    private Quaternion rotation;
    private float yaw;
    private float pitch;
    private bool isViewDirty;
    private bool isRotationDirty;
    public BoundingFrustum Frustum { get; private set; }
    public bool Changed { get; private set; }
    public Vector3 ForwardVector
    {
        get
        {
            return this.View.Forward;
        }
    }
    public FPSCamera()
        : base()
    {
        this.Position = Vector3.Zero;
        this.rotation = Quaternion.Identity;
        this.yaw = this.pitch = 0;
        this.isViewDirty = true;
        this.isRotationDirty = false;

    }
    public void SetPosition(Vector3 position)
    {
        this.Position = position;
        this.isViewDirty = true;
        this.Update(null);
    }
    public void Initialize(float aspectRatio)
    {
        this.Projeciton = Matrix.CreatePerspectiveFieldOfView(MathHelper.PiOver4, aspectRatio, 1f, 1000f);
    }
    public void Update(GameTime gameTime)
    {
        this.Changed = false;
        if (isRotationDirty)
        {
            if (yaw > MathHelper.TwoPi)
            {
                yaw = yaw - MathHelper.TwoPi;
            }
            if (yaw < -MathHelper.TwoPi)
            {
                yaw = yaw + MathHelper.TwoPi;
            }
            if (pitch > MathHelper.TwoPi)
            {
                pitch = pitch - MathHelper.TwoPi;
            }
            if (pitch < -MathHelper.TwoPi)
            {
                pitch = pitch + MathHelper.TwoPi;
            }
            this.rotation = Quaternion.CreateFromYawPitchRoll(yaw, pitch, 0);
            this.isRotationDirty = false;
            this.isViewDirty = true;
            this.Changed = true;
        }
        if (isViewDirty)
        {
            Vector3 up = Vector3.Transform(Vector3.Up, rotation);
            Vector3 target = Vector3.Transform(Vector3.Forward, rotation) + Position;
            this.View = Matrix.CreateLookAt(this.Position, target, up);
            this.isViewDirty = false;
            if (this.Frustum == null)
            {
                this.Frustum = new BoundingFrustum(this.View * this.Projeciton);
            }
            else
            {
                this.Frustum.Matrix = (this.View * this.Projeciton);
            }
            this.Changed = true;
        }
    }
    public void Move(Vector3 distance)
    {
        this.Position += Vector3.Transform(distance, rotation);
        this.isViewDirty = true;
    }
    public void Rotate(float yaw, float pitch)
    {
        this.yaw += yaw;
        this.pitch += pitch;
        this.isRotationDirty = true;
    }
    public void LookAt(Vector3 lookAt)
    {
    }
}

"look"方法是空白的，因为我正在试图弄清楚如何做到这一点。我移动相机，所以它的位置是(500,500,500)，需要它看(0,0,0)，但我不知道如何获得它们之间的偏航和俯仰，所以我可以设置正确的旋转。我读过关于向量的归一化以及使用叉乘和点积，但是你不能归一化(0,0,0)因为它没有方向所以我有点不知所措。