Child Object Rotation interpolation problem,

Hi everyone,

I have a turret made of 2 parts:

-the "Base" that can only rotate left/right;

-the "Body" that can only rotate up/down and is a child object of "Base";

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Both objects have a rotation speed that can be different.

The problems i'm having are:

• if i rotate the Body by modifying its '.rotation' directly, which i'd prefer to avoid,the two objects may rotate at different speed (see this video); I used this method because i'm not able to lock the rotation on the Quaternion in order to rotate '.localRotation' only of the "up/down" amount needed;

• if i rotate using '.localRotation', i use Vector3.Lerp to rotate from the current localRotation to the target one,this approach work for fast rotation speed,but when the speed is too low, the mesh start rotating like crazy when horizontal. It's probably an interpolation error but i don't know how to solve it. (see this video)

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Any idea on how to solve this problem? (i'd prefer to edit the local rotation since Body is a child of Base)

Thanks in advance.

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Here's the code i'm using to rotate the Base and the Body.

(note: the code commented lines are used for the local rotation instead of the global)

         if (Physics.Raycast(camRay, out hitRay, 100f, shootableMask))
         {
             //Rotate the base of the turret (left/right only)
             Vector3 baseToMouse = hitRay.point - b_Base.position;
             baseToMouse.y = 0;
             Quaternion baseRotation = Quaternion.LookRotation(baseToMouse);
             b_Base.rotation = Quaternion.RotateTowards(b_Base.rotation, baseRotation, BaseTurnSpeed *100 *Time.deltaTime);
 
             //Rotate the body of the turret (up/down only)
             Vector3 bodyToMouse = hitRay.point - b_Body.position;
             //find the rotation but only use X rot
             Quaternion bodyRotation = Quaternion.LookRotation(bodyToMouse);
             Vector3 eulBody = bodyRotation.eulerAngles;
             //save them to reapply,only need to change the local X rotation
             Vector3 eulLocalBody = b_Body.localRotation.eulerAngles;
             //Vector3 slowedBodyRotation=Vector3.Lerp(eulLocalBody, eulBody, BodyTurnSpeed * Time.deltaTime);
             b_Body.rotation = Quaternion.RotateTowards(b_Body.rotation, bodyRotation, BodyTurnSpeed *100* Time.deltaTime);
             //b_Body.localRotation = Quaternion.Euler(slowedBodyRotation.x, eulLocalBody.y, eulLocalBody.z);            
         }