void ApplyMotorTorque(ref Ackermann ackermann, float maxTorque, float value)
{
float fs, fp, rs, rp;
// If we have Ackerman steering, we apply torque based on the steering radius of each wheel
var radii = AckermannUtils.GetRadii(ackermann.angle, ackermann.AxleSeparation, ackermann.AxleWidth);
var total = radii[0] + radii[1] + radii[2] + radii[3];
fp = radii[0] / total;
fs = radii[1] / total;
rp = radii[2] / total;
rs = radii[3] / total;
if (ackermann.angle > 0)
{
ackermann.m_FrontRight.motorTorque = value * maxTorque * fp;
ackermann.m_FrontLeft.motorTorque = value * maxTorque * fs;
ackermann.m_RearRight.motorTorque = value * maxTorque * rp;
ackermann.m_RearLeft.motorTorque = value * maxTorque * rs;
}
else
{
ackermann.m_FrontLeft.motorTorque = value * maxTorque * fp;
ackermann.m_FrontRight.motorTorque = value * maxTorque * fs;
ackermann.m_RearLeft.motorTorque = value * maxTorque * rp;
ackermann.m_RearRight.motorTorque = value * maxTorque * rs;
}
}
public void Run(float delta)
{
var farAngle = AckermannUtils.GetSecondaryAngle(angle, AxleSeparation, AxleWidth);
// The rear wheels are always at 0 steer in Ackermann
m_RearLeft.steerAngle = m_RearRight.steerAngle = 0;
if (Mathf.IsZeroApprox(angle))
{
m_FrontRight.steerAngle = m_FrontLeft.steerAngle = 0;
}
m_FrontLeft.steerAngle = angle;
m_FrontRight.steerAngle = farAngle;
}
