3
It seems like you accumulate transformations. What you need to do instead is to keep rotation as euler angles pitch and yaw and then calculate final rotation from them.
2
You can create a quaternion from an axis and the angle. Use this to create a quaternion to represent the rotation around the normal of the plane by the angle theta. Then compose that quaternion with your quaternion q, which will yield a new quaternion q' which is equivalent to rotating q round the normal of the plane by the angle theta.
You need to be aware ...
1
Your answer leaves out the step of actually applying the direction-to-aim to the parent. Depending on how you use directionToAim, the parent (ship) might roll (stop being upright).
A slightly simpler solution, which is immune to roll in most cases:
//Get the rotation we would apply to the child to make it look at the target
Quaternion rotation = Quaternion....
1
One idea is that you transform to a coordinate system where up is actually Vector3.up then do whatever clamping you need via standard Euler angles, and then transform it back.
So I think something like this (this is the version in Unity C#, but take it as pseudocode) would work:
public Quaternion GeneralEulerClamp(Vector3 targetNormal, Quaternion ...
1
Check this link.
In your case, it would be, I think:
Vector3 targetPosition = kbcrd.playerToEngage.thirdPersonPlayerModel.shootTarget.position;
targetPosition .y = 0;
Vector3 botPosition = pb.thirdPersonPlayerModel.gunDirection.position;
botPosition.y = 0;
Vector3 targetDirection = targetPosition - botPosition;
float singleStep = speed * Time.deltaTime;
...
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