// Shared tilt angles for all rotors.
public void StepUpdate(Quaternion rot, float yaw, float thrust, float deltaTime)
{
Quaternion r = Quaternion.Inverse(rot) * transform.localRotation;
stepTiltZ.Update(Util.ClampAngle(r.eulerAngles.z + yaw * signZ, -maxTiltAngle, maxTiltAngle), deltaTime);
stepTiltX.Update(Util.ClampAngle(r.eulerAngles.x + yaw * signX, -maxTiltAngle, maxTiltAngle), deltaTime);
jointZ.targetRotation = Quaternion.Euler(0, 0, stepTiltZ.Value);
jointX.targetRotation = Quaternion.Euler(stepTiltX.Value, 0, 0);
StepUpdate(thrust, deltaTime);
}
public void StepUpdate(float thrust, float deltaTime)
{
stepThrust.Update(thrust, deltaTime);
currentThrust = isReversable ? stepThrust.Value : (stepThrust.Value + 1f) * 0.5f;
rbInnerRing.AddForce(innerRing.up * currentThrust * thrustScale, ForceMode.Impulse);
rbInnerRing.AddRelativeTorque(innerRing.up * currentThrust * torqueScale * -signSpin, ForceMode.Impulse);
}