Matrixes, quaternion, and vector math question

I'm not the greatest at matrixes, quaternion, and vector math.

Anyway, I have a need to have one object slowly turn to face the same direction as a target object currently faces.

I have done this in the code below, I think. (Seems to work!)

My question is this. Is there a better way to do the same thing using matrixes, quaternion, and vector math?

// default settings
F32 modThreshhold = 0.015;
F32 modAdjust = 0.01;
 
// get target matrix
const MatrixF& targetMat = pTargetObject->getTransform();   
Point3F targetDir;
targetMat.getColumn(1,&targetDir);
 
// get target yaw
F32 targetYaw, targetPitch;
MathUtils::getAnglesFromVector( targetDir, targetYaw, targetPitch );
 
// get my matrix
const MatrixF& myMat = getTransform();
Point3F myDir;
myMat.getColumn(1,&myDir);
 
// get my yaw
F32 myYaw, myPitch;
MathUtils::getAnglesFromVector( myDir, myYaw, myPitch );
 
// find the yaw diff 
F32 yawDiff = targetYaw - myYaw;
 
// make it between 0 and 2PI
if( yawDiff < 0.0f )
   yawDiff += M_2PI;
else if( yawDiff >= M_2PI )
   yawDiff -= M_2PI;
 
// now make sure we take the short way around the circle
if( yawDiff > M_PI )
   yawDiff -= M_2PI;
else if( yawDiff < -M_PI )
   yawDiff += M_2PI;
 
if (mFabs( yawDiff ) < modThreshhold)
{
   // I am close enought to target yaw, may as well make it the same
   myYaw = targetYaw;
}
else
{
   // adjust my yaw by a set amount times delta time
   // this way I will slowly come to the same bearing as
   // my target
   if (yawDiff < 0)
      myYaw -= modAdjust * dt;
   else if (yawDiff > 0)
      myYaw += modAdjust * dt;
}
 
// oh yeh, need to set myself now
setPosition( myMat.getPosition(), Point3F( 0, 0, myYaw ) );

Edit: Fixed spacing in code