Rigidbody rotating too slowly

Questions & Answers
1

So basically I “made” a script that controls the hand movement, and has proper collisions too. Most of it works, however, the rotation seems to have a limited speed, even if its speed is set to high values.

The speed of the rotation is slow, no matter what I change the multiplier to.

Here is the code:

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Hand: MonoBehaviour
{
    // Physics Movement
    [SerializeField] private GameObject followObject;
    [SerializeField] private float followSpeed = 30f;
    [SerializeField] private float rotateSpeed = 100f;
    [SerializeField] private float teleportDistance = 0.75f;
    [SerializeField] private Vector3 positionOffset;
    [SerializeField] private Vector3 rotationOffset;
    private Transform _followTarget;
    private Rigidbody _body;
    private bool _inGrab = false;

    void Start()
    {
        // Physics Movement
        _followTarget = followObject.transform;
        _body = GetComponent<Rigidbody>();
        _body.collisionDetectionMode = CollisionDetectionMode.Continuous;
        _body.interpolation = RigidbodyInterpolation.Interpolate;
        _body.mass = 20f;

        // Teleport Hands
        _body.position = _followTarget.position;
        _body.rotation = _followTarget.rotation;
    }

    void Update()
    {
        PhysicsMove();
    }

    private void PhysicsMove()
    {
        // Position
        var positionWithOffset = _followTarget.position + positionOffset;
        var distance = Vector3.Distance(positionWithOffset, transform.position);
        _body.velocity = (positionWithOffset - transform.position).normalized * (followSpeed * distance);

        // Rotation
        var rotationWithOffset = _followTarget.rotation * Quaternion.Euler(rotationOffset);
        var q = rotationWithOffset * Quaternion.Inverse(_body.rotation);
        q.ToAngleAxis(out float angle, out Vector3 axis);
        _body.angularVelocity = axis * (angle * Mathf.Deg2Rad * rotateSpeed);

        // Teleport back when too far
        if(distance > teleportDistance)
        {
            _body.position = _followTarget.position;
            _body.rotation = _followTarget.rotation;
        }
    }
}

The script is attached to a hand model with a rigidbody, and the follow-target is the XR Controller. Everything seems to be working, except the speed of the rotation.

Rarely worked with quaternions, so it might just be some basic issue.

2

Configure Rigidbody.maxAngularVelocity to a larger value. Default is 7, you may use 20 for example.