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Ammo.js rigidbody rotation?

My question is quite simple and yet I can't seem to find an answer anywhere... How can I rotate a btRigidBody from ammo.js a certain amount of radians or degrees to simulate a lookAt() method like the one in unity? The only thing that I can think to use is setAngularVelocity but this isn't controlled so I don't really know an approach to take.

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