[SOLVED] Rotate Toward Target Using AddTorque

[ZliVuk]

Problem:

1. Rigidbody needs to rotate using AddTorque toward other object (Camera)
2. There is not need to stop at exact position some overshoot is ok
   Solution:
3. Using quaternions this is not an issue so those solutions are known and working
   What is done:
4. Direction in what object should rotate is:

Quaternion.LookRotation(Camera.transform.position - object.position)

2. in FixedUpdate AddTorque is:

object.AddTorque(normalizedRotateToward*rotationSpeed, ForceMode.VelocityChange);

3. rotationSpeed is float that determins Speed
4. normalizeRotateToward is Vector3 that represents “force” that we apply to rotate object
5. Later in FixedUpdate detection of overshoot detection is:

if (Quaternion.Angle(object.transform.rotation, initialRotation) > targetAngleDifference)
{
    object.AddTorque(-object.angularVelocity, ForceMode.VelocityChange);
    normalizedRotateToward = Vector3.zero;
}

6. targetAngleDifference is angle for detection of overshoot from initialRotation toward targetRotation

[ZliVuk]

If someone knows how to get torque that will rotate object toward targetRotation (LookRotation) and catch overshoot please post a solution because this is driving me nuts.
If precision was needed I would go for Quaternions Lerp route and that is already done.
Thanks in advance.

[zulo3d]

    Quaternion rot=Quaternion.LookRotation(target.position-rb.position,Vector3.up);
    rot=Quaternion.Slerp(Quaternion.identity, rot*Quaternion.Inverse(rb.rotation), 1.0f);
    rb.AddTorque(new Vector3(rot.x,rot.y,rot.z)*10f);

[ZliVuk]

That worked like a charm!
Here is full solution:

[SOLVED] Rotate using Quaternions or Torque in world space

Here is full solution including @zulo3d great post from here: Get InputAction.CallbackContext rotatePerformedInputValue from method that hooks on Mouse movement: initialRotation = object.transform.rotation; targetAngleDifference = rotationIncrement; // 45 rotationDone = false; normalizedRotateToward = Vector3.zero; normalizedDeltaMove = Vector2.Normalize(rotatePerformedInputValue.ReadValue<Vector2>()); Get InputAction.CallbackContext resetRotationPerformedInputValue from method that hoo…