Universe.Physics.BulletSPlugin.BSDynamics.ComputeAngularDeflection C# (CSharp) Method

        public void ComputeAngularDeflection()
        {
            // Since angularMotorUp and angularDeflection are computed independently, they will calculate
            //     approximately the same X or Y correction. When added together (when contributions are combined)
            //     this creates an over-correction and then wabbling as the target is overshot.
            // TODO: rethink how the different correction computations inter-relate.

            if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
            {
                Vector3 deflectContributionV = Vector3.Zero;

                // The direction the vehicle is moving
                Vector3 movingDirection = VehicleVelocity;
                movingDirection.Normalize();

                // If the vehicle is going backward, it is still pointing forward
                movingDirection *= Math.Sign(VehicleForwardSpeed);

                // The direction the vehicle is pointing
/*                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
                pointingDirection.Normalize();

                // The difference between what is and what should be.
                Vector3 deflectionError = movingDirection - pointingDirection;
*/
                Vector3 pointingDirection = Vector3.UnitX * VehicleFrameOrientation;
                //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
                //   from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
                Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
                predictedPointingDirection.Normalize();

                // The difference between what is and what should be.
               // Vector3 deflectionError = movingDirection - predictedPointingDirection;
                Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection);
                // Don't try to correct very large errors (not our job)
                // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
                // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
                // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
                if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
                if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
                if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;

                // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);

                // Scale the correction by recovery timescale and efficiency
                deflectContributionV = (-deflectionError) * ClampInRange(0,m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1);
                deflectContributionV /= m_angularDeflectionTimescale;

                VehicleRotationalVelocity += deflectContributionV;   // * VehicleOrientation;

                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
                    ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
                VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}",
                    ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection);
            }
        }