Trying to understand rotations a little better. Rotation Limits?

I am trying to simplify something I am working on that deals with how transform nodes calculate their rotation once they have a parent.

So I booted up one of my scene and modified to kinda demonstrate in a fun way what I need to accomplish.

What would be a smart way to limit the rotation of the “barrels” to prevent them from over rotating into the ship when they have a target set.

You can spin the ship with the qweasd keys and hold the spacebar for rotational breaking.

I think I figured it out. Now I need to figure out how to control those limits depending on what the forward vector of the mesh is.

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