Rotations - Angular Velocity
During the playtime I found out that even having ship without gyroscopes (ups) it makes them move in all directions without any problems (x,y,z). Engines were clustered in one end just to save space. It makes a bit confusing behavior, as there is no rotation applied to ship mass.
Gyroscopes are in current form without limitations in all axis. My suggestion is to add limitation to axis and calculating thrust vector based on center of mass and location of the thruster. If the thruster central line is not alligned with point center of mass it creates rotation force. This can be negated by Gyroscopes. Gyroscope location will not affect rotation force.
This change will require also change to gyroscope limitations this means that one Gyroscope will have max of i.e. 100N of rotation for each axis. If non central engine will generate less than 100N of rotation force in particular axis it could be negated by gyro. But in this case ship will have degraded turn capacity when thruster is enabled (i.e accelerating).
When Rotation is more than 100N, ship goes into rotation (more gyros to add in current thrusters configuration to exceed the rotation force from thrusters, or reconfigure the ship thrusters locations/shift mass of the ship).
This way you can actually build ship without gyroscopes. By having all thrust negate themselves reaching equilibrium , rotating ship is just disabling one particular thruster, with additional enabling opposite thruster for faster rotation. Controlling it should be same to current one mouse/controller movement it will just cause engines to turn on with the rotation vector.
This applies only tho ships. When merging/connecting ships central mass is recalculated.
This will cause "real" space behavior and when crashing in something it will actually make ship properly rotate along the central mass point. Ship creations will be harder in this way, this can be switched by new ingame menu : Advanced rotation physics.
I believe that the calculations are not very complicated and will not decrease the performance of game.
PS. I will try to make visual representations in SE when have time.