physics based rotation tracking crazy

Physics
1

I am trying to implement torque-shifting-based turning for an agent in my game. The code I am using is this (in FixedUpdate):

if(objective.set())
{
	Vector3 targetAngle = objective.getPosition()-transform.position;
	float angVar= Vector3.Angle(transform.forward,targetAngle);
	Quaternion directMe=Quaternion.FromToRotation(transform.forward,-targetAngle);
	if(angVar>5)
	{
		rigidbody.AddRelativeTorque(Vector3.up*directMe.eulerAngles.y/50);
	}
}

This works as long as the objective approaches slowly and from the left

I feel like somehow a branch cut or something in the complex plane is preventing this from working in the other direction.

Is there a better way for a rigidbody to rotationally track another without using LookAt functionality? I’d like to do it all within the physics context.

2

Aha! I wasn’t subtracting 180 from something:

		rigidbody.AddRelativeTorque(Vector3.up*(directMe.eulerAngles.y-180)*tSpeed);

That resolves it.

3

A thousand thank yous for writing this script!