Turning Rigidbody3d to a specific Vector3 smoothly

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Completely lost with doing the thing in the topic. For three days I have been trying to make a Rigidbody3d turn smoothly to a Vector3 rotation of a Mark3d, but it always overshoots it and keeps turning in a glitchy way! Any help is welcome, I completely lost and just trying to find any solution

The docs contain a look_at implementation for rigid bodies. Not sure if that is exactly what you want, but it might help you get you started if nothing else.

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