private Torque GetTorqueVectors()
{
	ReferenceFrame frame = Part.Vessel.ReferenceFrame;
	double torqueXn = 0;
	double torqueX = 0;
	double torqueZ = 0;
	double torqueZn = 0;
	double torqueY = 0;
	double torqueYn = 0;
	Tuple3 position = Part.Position(frame);
	float thrust = MaxThrust;
	foreach (var thruster in Thrusters)
	{

		double torque = 0;
		double forceX = thruster.ThrustDirection(frame).Item1;
		double forceY = thruster.ThrustDirection(frame).Item2;
		double forceZ = thruster.ThrustDirection(frame).Item3;
		//
		double posX = position.Item1;
		double posY = position.Item2;
		double posZ = position.Item3;
		//Pitch torque, around X (position of RCS module projected on Z):
		torque = posZ * forceY * thrust;
		if (torque > 0) torqueX += torque;
		else torqueXn += torque;
		//Pitch torque, around X (position projected on Y):
		torque = posY * forceZ * thrust;
		if (torque < 0) torqueX += torque;
		else torqueXn += torque;
		//Yaw torque, around Z (position projected on X):
		torque = posX * forceY * thrust;
		if (torque > 0) torqueZn += torque;
		else torqueZ += torque;
		//Yaw torque, around Z (position projected on Y):
		torque = posY * forceX * thrust;
		if (torque < 0) torqueZn += torque;
		else torqueZ += torque;
		//Roll torque, around Y (position projected on Z):
		torque = posZ * forceX * thrust;
		if (torque < 0) torqueY += torque;
		else torqueYn += torque;
		//Roll torque, around Y (position projected on X):
		torque = posX * forceZ * thrust;
		if (torque < 0) torqueYn += torque;
		else torqueY += torque;


	}
	Vector3d posd = new Vector3d(torqueX, torqueZ, torqueY);
	Vector3d negd = new Vector3d(torqueXn, torqueZn, torqueYn);
	return new Torque(posd, negd);
}