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(ref Ackermann ackermann, float steeringValue, float steeringRange, float steeringRate, float delta)
{
var destination = steeringValue * steeringRange;
m_CurrAngle = Mathf.MoveToward(m_CurrAngle, destination, delta * steeringRate);
m_CurrAngle = Mathf.Clamp(m_CurrAngle, -steeringRange, steeringRange);
ackermann.angle = m_CurrAngle;
}
void CalculateEngineRPM(ref Ackermann ackermann, float idleRpm)
{
var sum = ackermann.m_FrontLeft.rpm;
sum += ackermann.m_FrontRight.rpm;
sum += ackermann.m_RearLeft.rpm;
sum += ackermann.m_RearRight.rpm;
rpmReadonly = idleRpm + sum;
}
public void FixedRun(ref Ackermann ackermann, float maxTorque, float value, float idleRpm)
{
ApplyMotorTorque(ref ackermann, maxTorque, value);
CalculateEngineRPM(ref ackermann, idleRpm);
}
