Quatronion.Lerp is defiantly not what I want. I am writing a HalfLife2 style carry object script. I do not use constraints as they could never fully give me the desired effect (Undesirble bounce off spring and items penetrating walls with fixed, both not demonstrated in the HL2 mechanic). I directly alter the velocity of the rigid body being picked up, and scale it down when touching surfaces so that the object doesn’t penetrate floors and walls, this has given me the desired effect.
However what I am trying to do now is get the object to face the player when it’s being carried, in order to avoid carried items from penetrating floors or walls I need to do this via the angularVelocity variable and not by any of the functions that take a quatronion. I would need to somehow convert a quatronion into angularVelocity.