public void SetInputs(int gearInput, float throttleInput, float brakePressure)
{
// MGU
mgu.gearInput = gearInput;
mgu.throttleInput = throttleInput;
mgu.brakePressure = brakePressure;
// Wheel brakes
float brakeTorque = mgu.GetWheelBrakeTorque(brakePressure);
m_leftWheel.AddBrakeTorque(brakeTorque);
m_rightWheel.AddBrakeTorque(brakeTorque);
}
// Convert the input state into torque and brake in the track
void SendInputToTrack(int input, DirectDrive track, Wheel w0, Wheel w1, Wheel w2, Wheel w3)
{
track.maxMotorTorque = trackTorque;
track.maxRpm = trackRpm;
if (input == 0)
{
float brakeTorque = trackBrakeTorque * 0.25f; // 4 wheels per track
w0.AddBrakeTorque(brakeTorque);
w1.AddBrakeTorque(brakeTorque);
w2.AddBrakeTorque(brakeTorque);
w3.AddBrakeTorque(brakeTorque);
track.motorInput = 0.0f;
}
else
{
track.motorInput = Mathf.Sign(input);
}
}
