I've kinda burned myself out working so much on these scripts, and I haven't been able to figure this part out. I have this section of the Locomotion project which aligns a character to the center of gravity. So if the character is running around the planet, he'll rotate along it, and gravity pulls him "down". But sometimes if he goes too fast, the rotation direction won't work quickly enough. And since gravity pulls him to his "down", (and his "down" is pointing some other direction now) he'll go flying in another direction.

I can fix the gravity issue later, but it's this rotation that's really bugging me.

What's a good method of making this transition instant?

private void AdjustToGravity() {
        int origLayer = gameObject.layer;
        gameObject.layer = 2;

        Vector3 currentUp = transform.up;
        //Vector3 gravityUp = (transform.position-gravityCenter).normalized;

        float damping = Mathf.Clamp01(Time.deltaTime*5);

        RaycastHit hit;

        Vector3 desiredUp = Vector3.zero;
            if ( Physics.Raycast(transform.position, transform.up*-1, out hit, 30.0f, groundLayers.value) ) {
                desiredUp += hit.normal;
            }

        desiredUp = (currentUp+desiredUp).normalized;
        Vector3 newUp = (currentUp+desiredUp*damping).normalized;

        float angle = Vector3.Angle(currentUp,newUp);
        if (angle>0.01) {
            Vector3 axis = Vector3.Cross(currentUp,newUp).normalized;
            Quaternion rot = Quaternion.AngleAxis(angle,axis);
            transform.rotation = rot * transform.rotation;
        }


        gameObject.layer = origLayer;
    }