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

        void MoveAngular(float pTimestep)
        {
            ComputeAngularTurning(pTimestep);

            ComputeAngularVerticalAttraction();

            ComputeAngularDeflection();

            ComputeAngularBanking();

            // ==================================================================
            if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
            {
                // The vehicle is not adding anything angular wise.
                VehicleRotationalVelocity = Vector3.Zero;
                VDetailLog("{0},  MoveAngular,done,zero", ControllingPrim.LocalID);
            }
            else
            {
                VDetailLog("{0},  MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID,
                    VehicleRotationalVelocity);
            }

            // ==================================================================
            //Offset section
            if (m_linearMotorOffset != Vector3.Zero)
            {
                //Offset of linear velocity doesn't change the linear velocity,
                //   but causes a torque to be applied, for example...
                //
                //      IIIII     >>>   IIIII
                //      IIIII     >>>    IIIII
                //      IIIII     >>>     IIIII
                //          ^
                //          |  Applying a force at the arrow will cause the object to move forward, but also rotate
                //
                //
                // The torque created is the linear velocity crossed with the offset

                // TODO: this computation should be in the linear section
                //    because that is where we know the impulse being applied.
                Vector3 torqueFromOffset = Vector3.Zero;
                // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
                if (float.IsNaN(torqueFromOffset.X))
                    torqueFromOffset.X = 0;
                if (float.IsNaN(torqueFromOffset.Y))
                    torqueFromOffset.Y = 0;
                if (float.IsNaN(torqueFromOffset.Z))
                    torqueFromOffset.Z = 0;

                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID,
                    torqueFromOffset);
            }
        }