Refactor Ackermann, Brakes

Assets/Adrenak.Tork/Runtime/Ackermann.cs

@@ -5,16 +5,14 @@ namespace Adrenak.Tork {
     /// An implementation of Ackermann steering mechanism
     /// </summary>
     public class Ackermann : MonoBehaviour {
-        public DrawLevel drawLevel;
-
         [SerializeField] Wheel m_FrontRight;
         public Wheel FrontRightWheel{ get { return m_FrontRight; } }
 
         [SerializeField] Wheel m_FrontLeft;
         public Wheel FrontLeftWheel { get { return m_FrontLeft; } }
 
         [SerializeField] Wheel m_RearRight;
-        public Wheel ReadRightWheel { get { return m_RearRight ; } }
+        public Wheel RearRightWheel { get { return m_RearRight ; } }
 
         [SerializeField] Wheel m_RearLeft;
         public Wheel RearLeftWheel { get { return m_RearLeft; } }

Assets/Adrenak.Tork/Runtime/Aerodynamics.cs

@@ -6,18 +6,24 @@ public class Aerodynamics : MonoBehaviour {
 		[SerializeField] Rigidbody m_Rigidbody;
 		[SerializeField] Wheel[] m_Wheels;
 
+        [Header("Down Force")]
 		public float downForce = 1000;
+
+        [Header("Mid Air Stabilization")]
 		public float stabilizationTorque = 15000;
+
+        [Header("Mid Air Steer")]
 		public float midAirSteerTorque = 1500;
 		public float midAirSteerInput;
 
+        [Header("Options")]
 		public bool doApplyDownForce;
 		public bool doStabilize;
 		public bool doSteerMidAir;
 
 		void FixedUpdate() {
 			if (doApplyDownForce)
-				DoApplyDownForce();
+				ApplyDownForce();
 
 			if (doStabilize)
 				Stabilize();
@@ -26,14 +32,14 @@ void FixedUpdate() {
 				SteerMidAir();
 		}
 
-		void DoApplyDownForce() {
+		void ApplyDownForce() {
 			if(downForce != 0)
 				m_Rigidbody.AddForce(-Vector3.up * downForce);
 		}
 
 		void Stabilize() {
-			var inAir = m_Wheels.Where(x => !x.IsGrounded);
-			if (inAir.Count() != 4) return;
+			var inAir = m_Wheels.Where(x => x.IsGrounded);
+			if (inAir.Count() == 4) return;
 
 			// Try to keep vehicle parallel to the ground while jumping
 			Vector3 locUp = transform.up;

Assets/Adrenak.Tork/Runtime/Brakes.cs

@@ -3,29 +3,20 @@
 namespace Adrenak.Tork {
 	[RequireComponent(typeof(Ackermann))]
 	public class Brakes : MonoBehaviour {
+        public Ackermann ackermann;
+
 		[Tooltip("The maximum braking torque that can be applied")]
 		[SerializeField] float maxTorque = 5000;
 
-		[Tooltip("Multiplier to the maxTorque")]
+		[Tooltip("Multiplier to the maxTorque [0..1]")]
 		public float value;
 
-		public Wheel m_FrontRight;
-		public Wheel m_FrontLeft;
-		public Wheel m_RearRight;
-		public Wheel m_RearLeft;
-
-		public Ackermann m_Ackermann { get; private set; }
-
-		private void Awake() {
-			m_Ackermann = GetComponent<Ackermann>();
-		}
-
-		private void FixedUpdate() {
+		void FixedUpdate() {
 			float fr, fl, rr, rl;
 
 			// If we have Ackerman steering, we apply torque based on the steering radius of each wheel
-			if (m_Ackermann != null) {
-				var radii = Ackermann.GetRadii(m_Ackermann.Angle, m_Ackermann.AxleSeparation, m_Ackermann.AxleWidth);
+			if (ackermann != null) {
+				var radii = Ackermann.GetRadii(ackermann.Angle, ackermann.AxleSeparation, ackermann.AxleWidth);
 				var total = radii[0, 0] + radii[1, 0] + radii[0, 1] + radii[1, 1];
 				fl = radii[0, 0] / total;
 				fr = radii[1, 0] / total;
@@ -35,11 +26,10 @@ private void FixedUpdate() {
 			else
 				fr = fl = rr = rl = 1;
 
-			m_FrontLeft.BrakeTorque = value * maxTorque * fl;
-			m_FrontRight.BrakeTorque = value * maxTorque * fr;
-
-			m_RearLeft.BrakeTorque = value * maxTorque * rl;
-			m_RearRight.BrakeTorque = value * maxTorque * rr;
+			ackermann.FrontLeftWheel.BrakeTorque = value * maxTorque * fl;
+			ackermann.FrontRightWheel.BrakeTorque = value * maxTorque * fr;
+			ackermann.RearLeftWheel.BrakeTorque = value * maxTorque * rl;
+			ackermann.RearRightWheel.BrakeTorque = value * maxTorque * rr;
 		}
 	}
 }