How do I calculate the torque needed to move an object to it's goal position? 
How to change the rotation axis of a phys object? will 
PhysSetMassCenterOverride() do the job? I want the object to point a specific 
direction, but fail on extreme conditions (obstacle), I looked at 
ComputeRotSpeedToAlignAxes() but I don't know the parameters. Are they normals 
which show the desired, then current alignment? Or maybe the other way around? 
Local or world space?

Dam, it's hard to use APIs when you don't know what they do :/

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