public override void Prepare(AJoint joint)
{
joint.Refs[0] = new Vector3((float)Math.Cos(Angle * sign), 0, (float)Math.Sin(Angle * sign));
}
public override float Speed(AJoint joint, float current)
{
return(_motorControl.Speed(joint, current));
}
public override float Speed(AJoint joint, float current)
{
return(current + Math.Min(maxTorque, Math.Max(-maxTorque, goal - current)));
}