Rotate a Rigidbody like Transform

Hello, i’d like to do the exact same effect as this line of code :

rigid.rotation = Quaternion.Euler(new Vector3(steer, 0f, roll));

But using AddTorque.

The goal is to move an object and control its rotation, but still be able to get rigidbody simulation.

AddTorque is not good for precision rotation. What you are looking for is Rigidbody.MoveRotation. If you want to move it relative to the current rotation, add the new rotation to the current rotation and then call MoveRotation.