I have a rigid body which I want to move towards and match its rotation with another object in the scene, but still be affected by collisions from other rigid bodies. I have figured out how to do the movement part:

But I can’t figure out how to apply this to do the same with orientation, because the worldAngularVelocity method accepts a rotation vector instead of a matrix or quaternion. So is there any way to “convert” a matrix or quaternion into this 3-vector?