Terrible underrated.
It is true it suffers from bad camera and a weird control scheme, but the game overall is great, with many alternative routes to reach the end of the game with the different characters. It has an amazing, dreadful atmosphere at all times, which no one ever mentions and is a great part of the experience.
A pretty good attempt at bringing the Castlevania formula into 3D.
One of my favorites on the series, despite being so criticized.