zxy angles as in quaternian

Physics
1

I’m trying to rotate a model to align parallel with the road. I have some code that keeps showing perpendicular angles.

i’m not sure if i have the right angles calculated.

//rotate to road angle
        RaycastHit hit;
        Physics.Raycast(transform.position, transform.up, out hit, 20f);

        float xy = Vector2.Angle(new Vector2(hit.point.x, hit.point.y), new Vector2(transform.position.x, transform.position.y));
        float xz = Vector2.Angle(new Vector2(hit.point.x, hit.point.z), new Vector2(transform.position.x, transform.position.z));
        float yz = Vector2.Angle(new Vector2(hit.point.y, hit.point.z), new Vector2(transform.position.y, transform.position.z));

        gameObject.GetComponent<Rigidbody>().MoveRotation(Quaternion.Euler(new Vector3(xy, yz, xz)));
2

heres the full code…

I want the model to align with the ground transform. Also my model doesn’t turn with turnTorque.

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

public class carController : MonoBehaviour {
    public float acceleration;
    public float rotationRate;

    public float turnRotationAngle;
    public float turnRotationSeekSpeed;

    private float rotationVelocity;
    private float groundAngleVelocity;
    private float ROTvel;
    private float rotvel2;
    void Update(){
    }
    // Update is called once per frame
    void FixedUpdate () {

        //forward Force
        Vector3 forwardForce = transform.forward * acceleration * Input.GetAxis("Vertical");
        forwardForce = forwardForce * Time.deltaTime * gameObject.GetComponent<Rigidbody>().mass;
        gameObject.GetComponent<Rigidbody>().AddForce(forwardForce, ForceMode.Force);
        //GameObject.Find("engine").GetComponent<Rigidbody>().AddForce(forwardForce, ForceMode.Force);

        //turn Velocity
        Vector3 newRotation = transform.rotation.eulerAngles;
        newRotation.y = Mathf.SmoothDampAngle(newRotation.y, Input.GetAxis("Horizontal")*turnRotationAngle, ref rotationVelocity, turnRotationSeekSpeed);

        //rotate to road angle
        RaycastHit hit;
        Physics.Raycast(transform.position, transform.up, out hit, 20f);
        Vector3 hitn = hit.normal;
        float hitx = Vector3.Angle(new Vector3(0,hit.collider.transform.rotation.eulerAngles.y,0), new Vector3(0,0,hit.collider.transform.rotation.eulerAngles.z));
        float hity = Vector3.Angle(new Vector3(hit.collider.transform.rotation.eulerAngles.x,0,0), new Vector3(0,0,hit.collider.transform.rotation.eulerAngles.z));
        float hitz = Vector3.Angle(new Vector3(0,hit.collider.transform.rotation.eulerAngles.y,0), new Vector3(hit.collider.transform.rotation.eulerAngles.x,0,0));
        //gameObject.GetComponent<Rigidbody>().AddTorque(new Vector3(hitn.x*transform.rotation.eulerAngles.x, transform.rotation.eulerAngles.y, hitn.z*transform.rotation.eulerAngles.z));

        //Turn Model
        Vector3 turnTorque = Vector3.up * rotationRate * Input.GetAxis("Horizontal");
        turnTorque = turnTorque * Time.deltaTime * gameObject.GetComponent<Rigidbody>().mass;
        gameObject.GetComponent<Rigidbody>().AddTorque(turnTorque);
    }
}