Motor Cycle Physics

Hi Everyone

Been working on motor cycle physics, i think im close but im struggling with turning.

Im using a physics asset for my collision and constraint components for the wheels and forks.

Im using this function to add counter torque depending on the roll of the bike, im having to use really high value like 10000 to get it to balance, but as soon as it falls over it wont get back up.

Im using the angular target motor function for the steering which works, but the bike turns the opposite direction

Any Suggestions Would Be Dope

Would something a little more scientific help?

The math is all there with a peripheral explanation.
The takeaway is that perhaps you need some fake force applied to get the bike not to fall.