I always thought the Dreamcast controller was a good joypad, dependable and solid for some kinds of games, less effective for others. I have the sense that Sega was trying to simplify its Saturn 3D controller design, make it more accessible to the masses without confusing them. I also have the impression that Sega was looking at the Nintendo 64 for inspiration, and overall did a good job. The analog stick is good, if a touch slippery at times, and I never cared much for the dual-analog thing, so I'm fine with having only one. Too many buttons is a turn-off (which, in some circles, is precisely the point).
The VMU was the grand experiment, and if it had succeeded this conversation simply wouldn't exist. That's classic Sega, always taking the crazy gamble, not always successful, but you're glad they tried. If only those little Chao pets from Sonic Adventure had become popular...if only, if only.
For Street Fighter and Virtua Fighter, the DC joypad was terrible. For most other games, it was pretty good. It's great for Soul Calibur and NFL/NBA 2K, Hydro Thunder and San Francisco Rush 2049.
Just consider yourselves lucky you're no longer stuck with the "telephone" videogame controllers like Atari 5200, 7800, Intellivision and Colecovision. Those things were just painful. I'm getting hand cramps just thinking about them.