fn calculate_angular_acceleration(&self, dt: f64) -> Vector3 {
        println!("---");
        let orientation = get_next_orientation(self.orientation, self.angular_velocity, dt * 3.0);

        let delta_q = self.requested_orientation * orientation.get_inverse();
        let delta_angle = delta_q.angle();

        // we will attempt to accelerate or decelerate on this axis
        let accel_axis = delta_q.axis();

        let angular_velocity = self.angular_velocity.len();
        // self.angular_velocity.projection_on_vector3(accel_axis);
        //
        let deaccel_angle = angular_velocity.powi(2) / (2.0 * self.max_angular_acceleration);

        println!(
            "delta_angle: {:?}, deaccel_angle: {:?}, angular velocity: {:?}, accel_axis: {:?}",
            delta_angle, deaccel_angle, angular_velocity, accel_axis
        );

        if delta_angle <= angular_velocity {
            // Remove all angular velocity
            let result = self.angular_velocity.get_normalized()
                * -f64::min(self.max_angular_acceleration, delta_angle / dt);
            println!("Near the end: {:?}", result);
            return result;
        }

        let result = accel_axis
            * if delta_angle > deaccel_angle + angular_velocity * dt {
                self.max_angular_acceleration
            } else {
                -self.max_angular_acceleration
            };
        println!("angular_acceleration: {:?}", result);
        result
}