RigidBody RotateTo Method

Hello, I’m trying to implement a RotateTo method for RigidBody which will set its angular velocity so that it rotates towards and reaches a destination rotation. I have no clue about the math aspects. The following code gives interesting results but not correct:

``````/*
* RigidBodyRotateTo.cpp
*
*  Created on: Jan 4, 2015
*      Author: practicing01
*/

#include "math.h"
#include "ProcessUtils.h"
#include "RigidBody.h"
#include "Scene.h"
#include "SceneEvents.h"
#include "DebugNew.h"

#include "RigidBodyRotateTo.h"

RigidBodyRotateTo::RigidBodyRotateTo(Context* context) :
LogicComponent(context)
{
isRotating_ = false;
// Only the physics update event is needed: unsubscribe from the rest for optimization
}

void RigidBodyRotateTo::OnRotateToComplete()
{
SendEvent(E_RIGIDBODYROTATETOCOMPLETE);
}

void RigidBodyRotateTo::RotateTo(Quaternion dest, float speed, bool stopOnCompletion)
{
rotateToSpeed_ = speed;
rotateToDest_ = dest;
rotateToLoc_ = node_->GetRotation();
rotateToTravelTime_ = sqrt((rotateToDest_ - rotateToLoc_).LengthSquared()) / speed;
rotateToElapsedTime_ = 0.0f;
rotateToStopOnTime_ = stopOnCompletion;
isRotating_ = true;
//The following spins wildly.
//node_->GetComponent<RigidBody>()->SetAngularVelocity(dest.Normalized().EulerAngles() * speed);
//The following rotates but towards incorrect destination.
node_->GetComponent<RigidBody>()->SetAngularVelocity( rotateToLoc_.Slerp(dest, 1.0f).EulerAngles().Normalized() * speed );
}

void RigidBodyRotateTo::FixedUpdate(float timeStep)
{
if (isRotating_ == true)
{
rotateToElapsedTime_ += timeStep;
if (rotateToElapsedTime_ >= rotateToTravelTime_)
{
isRotating_ = false;
if (rotateToStopOnTime_ == true)
{
node_->GetComponent<RigidBody>()->SetAngularVelocity(Vector3::ZERO);
}
OnRotateToComplete();
}
}
}
``````

Any help with the line that sets the angular velocity will be greatly appreciated. Thanks for your time.