1. The king pointed at the five dragon heads.
2. The king pointed to the five dragon heads.
[We can use both expressions, right? What about the following sentences? Can we use both 'at' and 'to' in the sentences below in #3 and #4?]
3. He stared at the people over there.
4. He stared to the people over there.
Yes, either preposition can be used in 1 and 2.
3 is correct; 4 is incorrect.