Universe.Physics.BulletSPlugin.BSFMotor.Step C# (CSharp) Method

        public virtual float Step(float timeStep)
        {
            if (!Enabled) return TargetValue;

            float origTarget = TargetValue; // DEBUG
            float origCurrVal = CurrentValue; // DEBUG

            float correction = 0f;
            float error = TargetValue - CurrentValue;
            if (!ErrorIsZero(error))
            {
                correction = StepError(timeStep, error);

                CurrentValue += correction;

                // The desired value reduces to zero which also reduces the difference with current.
                // If the decay time is infinite, don't decay at all.
                float decayFactor = 0f;
                if (TargetValueDecayTimeScale != BSMotor.Infinite)
                {
                    decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
                    TargetValue *= (1f - decayFactor);
                }

                // The amount we can correct the error is reduced by the friction
                float frictionFactor = 0f;
                if (FrictionTimescale != BSMotor.Infinite)
                {
                    // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
                    // Individual friction components can be 'infinite' so compute each separately.
                    frictionFactor = 1f / FrictionTimescale;
                    frictionFactor *= timeStep;
                    CurrentValue *= (1f - frictionFactor);
                }

                MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                    BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                    timeStep, error, correction);
                MDetailLog(
                    "{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
                    BSScene.DetailLogZero, UseName,
                    TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
                    TargetValue, CurrentValue);
            }
            else
            {
                // Difference between what we have and target is small. Motor is done.
                if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
                {
                    // The target can step down to nearly zero but not get there.  If close to zero
                    //     it is really zero.
                    TargetValue = 0f;
                }
                CurrentValue = TargetValue;
                MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                    BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
            }
            LastError = error;

            return CurrentValue;
        }