 <p>Got it! Incredibly simple when you add a container node. The following seems to work for any positions in any quadrants.</p> <pre><code> // pointAt_c is a container node located at, and child of, the originNode // pointAtNode is its child, position coincident with pointAt_c (and originNode) // get deltas (positions of target relative to origin) let dx = targetNode.position.x - originNode.position.x let dy = targetNode.position.y - originNode.position.y let dz = targetNode.position.z - originNode.position.z // rotate container node about y-axis (pointAtNode rotated with it) let y_angle = atan2(dx, dz) pointAt_c.rotation = SCNVector4(0.0, 1.0, 0.0, y_angle) // now rotate the pointAtNode about its z-axis let dz_dx = sqrt((dz * dz) + (dx * dx)) // (due to rotation the adjacent side of this angle is now a hypotenuse) let x_angle = atan2(dz_dx, dy) pointAtNode.rotation = SCNVector4(1.0, 0.0, 0.0, x_angle) </code></pre> <p>I needed this to replace lookAt constraints which cannot, easily anyway, be archived with a node tree. I'm pointing the y-axis because that's how SCN cylinders and capsules are directed.</p> <p>If anyone knows how to obviate the container node please do tell. Everytime I try to apply sequential rotations to a single node, the last overwrites the previous one. I haven't the knowledge to formulate a rotation expression to do it in one shot.</p>