For example if I use pXent_setvelocity(my, vector(500, 0, 0)); //my boat moves along the X-axis not straight ahead. Somehow it needs to adjust based on the boats current pan?

Code:
if( key_cul ) pXent_addtorquelocal (my, vector(0, 0, 30000*time_step));
if( key_cur ) pXent_addtorquelocal (my, vector(0, 0, -30000*time_step));
if( key_cuu ) ???????