public virtual float SendTorque(float torque, float inertiaSum, float dt)
{
if (_outputAIsNull)
{
return(torque);
}
float T = outputA.SendTorque(torque, inertiaSum + inertia, dt);
return(T);
}
public override float SendTorque(float torque, float inertiaSum, float dt)
{
if (_outputAIsNull || _outputBIsNull)
{
return(torque);
}
float Wa = outputA.QueryAngularVelocity(angularVelocity, dt);
float Wb = outputB.QueryAngularVelocity(angularVelocity, dt);
float Ia = outputA.QueryInertia();
float Ib = outputB.QueryInertia();
splitTorqueDelegate.Invoke(torque, Wa, Wb, Ia, Ib, dt, biasAB, preload, stiffness, powerRamp,
coastRamp, slipTorque, out float Ta, out float Tb);
return(outputA.SendTorque(Ta, inertiaSum + Ia, dt) + outputB.SendTorque(Tb, inertiaSum + Ib, dt));
}
