Universe.Physics.BulletSPlugin.BSPIDVMotor.StepError C# (CSharp) Method

        public override Vector3 StepError(float timeStep, Vector3 error)
        {
            if (!Enabled) return Vector3.Zero;

            // Add up the error so we can integrate over the accumulated errors
            RunningIntegration += error * timeStep;

            // A simple derivitive is the rate of change from the last error.
            Vector3 derivitive = (error - LastError) * timeStep;
            LastError = error;

            // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
            Vector3 ret = error/TimeScale * timeStep * proportionFactor * FactorMix.X
                          + RunningIntegration/TimeScale * integralFactor * FactorMix.Y
                          + derivitive/TimeScale * derivFactor * FactorMix.Z
                ;

            MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
                BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);

            return ret;
        }
    }