Unityにて戦車の砲塔をカメラ方向に向かせる

Unityにて戦車の砲塔をカメラ方向に向かせる（BFシリーズのTPS視点での操作のイメージ）スクリプトを作成したのですが砲塔はカメラの方向に回転するのですが砲塔が細かく左右にぶれるというかガタガタします。また戦車がひっくり返った状態だと砲塔が逆の方向に向いてしまいます。Slerpの感度部分を低くすることでブレはなくなるのですが回転速度が遅くなってしまうのでこれ以外で解決方法を伺いたいです。
追記:すいません原因がわかりました。カメラY軸と砲塔のXZ平面の交差点への角度を求める際に回転角の方向を求めるvar angle = Vector3.Angle(houtou.transform.up, diff)* (axis.y < 0 ? -1 : 1);の部分が三次元的な動きをするオブジェクトだと正しくない結果になることが原因のようです。

C#
1using System.Collections;
2using System.Collections.Generic;
3using UnityEngine;
4
5public class TankController : MonoBehaviour
6{
7    [SerializeField] float m_MovingTurnSpeed = 360;
8    [SerializeField] float m_StationaryTurnSpeed = 180;
9    [SerializeField] float m_JumpPower = 12f;
10    [SerializeField] float m_GroundCheckDistance = 10f;
11    [SerializeField] float groundDistamce = 3f;
12    [SerializeField] float toruque = 100;
13    [SerializeField] Transform houtou;
14    [SerializeField] Transform mainca;
15    [SerializeField] float RotationSensitivity = 10f;
16    [SerializeField] float uppoer = 500f;
17    [SerializeField] Transform camera;
18
19    [SerializeField] Transform iPoint;
20
21    float inputHorizontal;
22    Vector3 intersectPoint;
23    float inputVertical;
24    Rigidbody m_Rigidbody;
25    Animator m_Animator;
26    [SerializeField] bool m_IsGrounded;
27    float m_OrigGroundCheckDistance;
28    const float k_Half = 0.5f;
29    float m_TurnAmount;
30    float m_ForwardAmount;
31    Vector3 m_GroundNormal;
32    float m_CapsuleHeight;
33    Vector3 m_CapsuleCenter;
34    CapsuleCollider m_Capsule;
35    bool m_Crouching;
36    bool jumppress;
37    public bool TPSMode;
38    bool TPSModeInput;
39    float h = 0f;
40    float v = 0f;
41    float trigger = 0f;
42
43
44    void Start()
45    {
46        m_Rigidbody = GetComponent<Rigidbody>();
47        m_Animator = GetComponent<Animator>();
48        m_Rigidbody.maxAngularVelocity = 7;
49        intersectPoint = houtou.position;
50        iPoint.transform.position = transform.position;
51
52
53        //m_Rigidbody.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ;
54    }
55
56    void Update()
57    {
58        h = Input.GetAxisRaw("Horizontal");
59        v = Input.GetAxisRaw("Vertical");
60        trigger = Input.GetAxisRaw("LRTrigger");
61
62    }
63
64    void FixedUpdate()
65    {
66        //移動処理
67
68        m_Rigidbody.AddForce(transform.forward * 50f * -trigger, ForceMode.Impulse);
69
70        Vector3 tpow = transform.up * toruque * h;
71        Vector3 tpowv = transform.right * toruque * v;
72        m_Rigidbody.AddTorque(tpow + tpowv);
73
74
75        RaycastHit hitInfo;
76        if (Physics.Raycast(transform.position + (Vector3.up * 0.1f), Vector3.down, out hitInfo, m_GroundCheckDistance))
77        {
78            //m_Rigidbody.AddForce(new Vector3(0, -(1000f-hitInfo.distance), 600f));
79            float uppower = -(1 / (1 + Mathf.Exp(-(hitInfo.distance - groundDistamce)))) * 1000f + 1500f;
80            //print("Found an object - distance: " + hitInfo.distance + "Power:" + uppower + "h:" + h + "Tpow:" + tpow);
81            m_Rigidbody.AddForce(Vector3.up * uppower);
82
83        }
84        //移動処理ここまで
85
86        //砲塔回転処理
87
88         //カメラのY軸が砲塔のXZ平面に直行するポイントを計算
89        var houtouXZNormal = houtou.transform.forward;
90        var houtoouXZPlane = houtou.transform.position;
91        var cameraPoint = camera.transform.position;
92        var targetVector = Vector3.down;
93        var houtouXZPoint = Vector3.Dot(houtouXZNormal, houtoouXZPlane);
94        var tmp = cameraPoint + ((houtouXZPoint - Vector3.Dot(houtouXZNormal, cameraPoint)) / (Vector3.Dot(houtouXZNormal, targetVector))) * targetVector;
95        intersectPoint = tmp;//Vector3.Slerp(intersectPoint, tmp, 1f);
96        iPoint.position = intersectPoint;
97        //直行ポイントまでの角度を計算
98        var diff = intersectPoint - houtou.transform.position;
99        var axis = Vector3.Cross(houtou.transform.up, diff);
100        var angle = Vector3.Angle(houtou.transform.up, diff)* (axis.y < 0 ? -1 : 1);
101        print(angle);
102        //houtou.Rotate(0f, 0f, angle, Space.Self);
103        //houtou.rotation = (Quaternion.AngleAxis(angle, houtou.transform.forward) * houtou.rotation);
104        //houtou.rotation = Quaternion.Slerp(houtou.rotation, Quaternion.LookRotation((intersectPoint - houtou.position)), Time.deltaTime * RotationSensitivity);
105        //houtou.rotation = Quaternion.FromToRotation(houtou.TransformDirection(Vector3.forward), intersectPoint);
106        //Quaternion backR = houtou.rotation;
107        houtou.rotation = Quaternion.Slerp(houtou.rotation, (Quaternion.AngleAxis(angle, houtou.transform.forward) * houtou.rotation), Time.deltaTime * RotationSensitivity);
108        //砲塔回転処理ここまで
109
110
111
112
113    }
114    void LateUpdate()
115    {
116       
117    }
118
119}
120