[SOLVED] Using Quaternions approach to rotate sphere from clicked point towards static point

Okay! I already solve this: [https://jsfiddle.net/sebasz1000/35jodpyr/342/]

By using quaternions approach I finally did it! I made getQuaternionFromPoints that returns the quaternion value between given points A(clicked pickertPoint - aqua box) and B(fixed point- red plane).

function getQuaternionFromPoints(initPoint, endPoint) {
    var startVector = (initPoint === undefined ? new THREE.Vector3() : initPoint.normalize())
    var endVector = (endPoint === undefined ? new THREE.Vector3() : endPoint.normalize())
    var q = new THREE.Quaternion();

    q.setFromUnitVectors(startVector, endVector)

    return q 
}

So I got my target Quaternion to make the tweening:

 const euler = new THREE.Euler()
 const startQuaternion = new THREE.Quaternion()
 const endQuaternion = getQuaternionFromPoints(pickerPoint, staticPoint.position)
  
  startQuaternion.copy(sphere.quaternion).normalize()

  const worldRotation = new TWEEN.Tween(startQuaternion)
                                 .to( endQuaternion, 2000)
  				                 .delay(500)
                                 .easing(TWEEN.Easing.Exponential.InOut)
                                 .onUpdate( function() {
                                               euler.setFromQuaternion(startQuaternion)
                                               sphere.setRotationFromEuler(euler)
                                  });
  worldRotation.start()

Solved Issue!

ADDITIONAL THING: Yellow point trajectory is calculated using spherical point with getAngleFromSphericals() method. This point is expected to be the camera travel position( I am working on how to stick camera on it now), so this way Camera and clicked pickerPoint will meet just in the static redPoint.