private void ApplyForces()
{
locAngVeloY = Localize(Body.angularVelocity).y;
int n = 0, i = 0;
for (; i < sensors.Length; i++)
{
Transform s = sensors[i];
Vector3 pos = s.position;
Vector3 fwd = s.forward;
if (Physics.Raycast(pos, fwd, out RaycastHit hit, rayLength, mask))
{
float zTilt = locAngVeloY * Mathf.Sign(s.localPosition.x);
float error = Mathf.Max(0, distance - hit.distance - zTilt * tilt);
Body.AddForceAtPosition(fwd * -error, pos, ForceMode.VelocityChange);
n++;
}
}
Body.AddRelativeForce(Vector3.forward * Throttle * crntThrottle);
Body.AddRelativeForce(Vector3.right * Steer * swerve);
Body.AddRelativeTorque(Vector3.up * Steer * turn);
IsOffTrack = n < minReqContacts;
}
