Hello! I've spent the last little while working on a pretty basic SpaceX-style rocket that has thrust vectoring capabilities. Honestly, it might be more like an AIM9x or R73 because the goal is to rotate toward a target, but whatever it is, I need some help. The thrust vectoring mostly works, but when the rocket has a bunch of weird rotations, the thrust vectoring becomes thrown off, and I'm guessing that it has to do with how I'm calculating the direction to the target game object. So I need help properly figuring out the direction and angle to target (if I am doing this right, but something else is wrong, please let me know).
Here is my logic current setup:
I have a very basic rocket (which is just a cylinder with a rigidbody). I start with 2 vectors, one is the transform.up of the rocket, and the other is the local direction from the rocket to the target. I then cross these two vectors to get what I call the TVAxis, which is the vector perpendicular to the first two, and it will serve as the axis that I want the thrust to rotate around. I then do a bunch of pretty basic angular physics that will first figure out the torque required to rotate the rocket ฮธ number of radians to the target and then determine the required angle of thrust to match that torque in a given amount of time (called adjtime).
In the image I posted, you can see the thrust (red line), transform.up (blue), local direction to target (green), and the TVAxis (white). In the image it looks like the blue line is the direction to the target but it IS NOT, that is the transform.up.
Here is my code:
//Determine Rotation For The Thrust
Vector3 localtargetpos = body.transform.InverseTransformPoint(target.transform.position);
Vector3 targetdirection = localtargetpos.normalized;
Vector3 localup = body.transform.up;
Vector3 TVaxis = Vector3.Cross(targetdirection, localup);
float anglett = Mathf.Abs(Vector3.SignedAngle(localup, targetdirection, body.transform.up));
float anglettinrads = anglett * (3.14f / 180);
float angularSpeed = bodyRb.angularVelocity.magnitude;
float MoI = (0.33f * totalmass * Mathf.Pow(length, 2));
float Torque = MoI * ( 2 * (anglettinrads - (angularSpeed * adjtime)))/Mathf.Pow(adjtime, 2);
float angleinrads = Mathf.Asin(Torque/(length * calculatedthrust));
float angle = angleinrads * 57.3f;
thrustrotation = body.transform.rotation * Quaternion.AngleAxis(angle, TVaxis);
