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

        void ComputeLinearDeflection(float pTimestep)
        {
            Vector3 linearDeflectionV = Vector3.Zero;
            Vector3 velocityV = VehicleForwardVelocity;

            if (BSParam.VehicleEnableLinearDeflection)
            {
                // Velocity in Y and Z dimensions is movement to the side or turning.
                // Compute deflection factor from the to the side and rotational velocity
                linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y);
                linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z);

                // Velocity to the side and around is corrected and moved into the forward direction
                linearDeflectionV.X += Math.Abs(linearDeflectionV.Y);
                linearDeflectionV.X += Math.Abs(linearDeflectionV.Z);

                // Scale the deflection to the fractional simulation time
                linearDeflectionV *= pTimestep;

                // Subtract the sideways and rotational velocity deflection factors while adding the correction forward
                linearDeflectionV *= new Vector3(1, -1, -1);

                // Correction is vehicle relative. Convert to world coordinates.
                Vector3 linearDeflectionW = linearDeflectionV * VehicleFrameOrientation;

                // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding)
                {
                    linearDeflectionW.Z = 0f;
                }

                VehicleVelocity += linearDeflectionW;

                VDetailLog("{0},  MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}",
                            ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV);
            }
        }