Steering in 3D space with roll and pitch

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I want to be able to steer AI ships in space, and I'm not sure the best way to go about it. To make it look a bit more 'realistic', I want to ships to steer with roll and pitch to seek their targets. What's the best way to find the roll and pitch angle needed to align the ship to a particular point? I can see the idea conceptually :

But it's been a few years since linear algebra so I'm quite rusty.

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Do you want full 6DOF motion (that is, there's no fixed 'up' vector and all rotations are about the object's local axes)? Or should all movement be relative to a fixed 'up' vector?

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Do you want banked turns? These only really make sense in the presence of gravity, but they look cool so you often see spacecraft doing them in sci-fi anyway. It's called "coordinated flight," and it gets its name because it "coordinates" the rudder and ailerons so that the centripetal acceleration that you get from your nonzero roll angle (there's a horizontal component to your lift then) agrees with the yaw rate you get from your rudder. This avoids side-slipping of the aircraft; your nose is always pointed in the same direction as your velocity vector.

Now what's a nice, fully 3d model of coordinated flight, appropriate for computer animation? I've sort of wanted an answer to this question for a while now, but nothing has been simple/pretty enough... Lemme see if I can come up with anything nice...

(This paper has a fairly pretty model, but it's not totally what we want... (And unless you're at a university it'll be locked behind a paywall for you.))

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Do you want full 6DOF motion (that is, there's no fixed 'up' vector and all rotations are about the object's local axes)? Or should all movement be relative to a fixed 'up' vector?

I'm not quite sure I understand your question, but I'll try to provide some more information. Though the idea is to eventually have a full 6 degrees of freedom, I'm starting simpler just so I can make sure I grasp the math. Rotations will be relative to the ships own local coordinate, but 'up' will be the same for all ships, that is, given a rotation matrix with no rotation, all ships will be aligned the same. However, rotations will be around each ship's local access, not some global axis.

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Do you want banked turns? These only really make sense in the presence of gravity, but they look cool so you often see spacecraft doing them in sci-fi anyway. It's called "coordinated flight," and it gets its name because it "coordinates" the rudder and ailerons so that the centripetal acceleration that you get from your nonzero roll angle (there's a horizontal component to your lift then) agrees with the yaw rate you get from your rudder. This avoids side-slipping of the aircraft; your nose is always pointed in the same direction as your velocity vector.

Now what's a nice, fully 3d model of coordinated flight, appropriate for computer animation? I've sort of wanted an answer to this question for a while now, but nothing has been simple/pretty enough... Lemme see if I can come up with anything nice...

(This paper has a fairly pretty model, but it's not totally what we want... (And unless you're at a university it'll be locked behind a paywall for you.))

You're right, banking doesn't necessarily 'make sense' in space, but the idea is to make it look pretty, and to give me a "simple" problem to get myself back into the math. When I've tried working out the problem, I seem to be making it more complicated than it should be. I don't need a detailed or realistic option right now, I just feel like I'm banging my head on a simple problem, though it might not be as simple as it looks to me.

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