I did not ready it, but I believe what I was trying to say Is that, using torque to control a vehicle is cheating, because there are very few object that can generates actual torque in nature.
one such object is a Gyroscope and other are induction electric motors,
other that that a torque is a mathematical forces. therefore using the direct torque to control an aircraft is no right if you are looking for realism.
this si such a common practice that it is have a name, when I was in school it was called Dynamic, but now I see by the same resultant force.
https://en.wikipedia.org/wiki/Net_force
so basically each time you have a bunch of forces acting of a body, you can replace it with
f = sum of all fi at the origion,
t = sum of (pi - p0) x fi
that all there is to it.
so in your case the force are the thrusters, that have a point and a directions
and how the get applied mathematically is using those tow formulae.
the second method let you manipulate individual thrusters, while applying torque is magic unless you use Gyroscope , which some sattetiles do use .