3D: Rotating physics object - set_angular_velocity incompatible with transforms?

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:bust_in_silhouette: Asked By blockchan

Documentation advises to always use transforms for rotation, but I’d like to have RigidBody trying to reach rotation using physics and the only way to do it is using Vector3 in set_angular_velocity:

func _integrate_forces(state):
    var target_rotation = target.global_transform.basis
    set_angular_velocity(target_rotation.get_euler() - global_transform.basis.get_euler())

This makes RigidBody rotating all the time. I suspect this is because of euler angles limitations, but how can I use Basis or Quat when function only takes Vector3?

:bust_in_silhouette: Reply From: blockchan

I figured out the code:

var target_rotation = target.global_transform.basis    
set_angular_velocity((target_rotation * global_transform.basis.inverse()).get_euler())