*

Unity/Assets/Scripts/Car/DriveShaft.cs

@@ -0,0 +1,57 @@
+using UnityEngine;
+using System.Collections;
+
+public class DriveShaft : MonoBehaviour
+{
+    public Transform endpoint0;
+    public Transform endpoint1;
+
+    float inv_inertia;
+
+	public float Inv_inertia {
+		get {
+			return inv_inertia;
+		}
+		set {
+			inv_inertia = value;
+		}
+	}
+
+	float ang_velocity;
+	float angle;
+
+	public float Angle{
+		get{return angle;}
+	}
+
+	public float AngularVelocity{
+		get{return ang_velocity;}
+        set {
+            ang_velocity = value;
+        }
+    }
+
+	public DriveShaft() {
+		inv_inertia = 1;
+		ang_velocity = 0;
+		angle = 0;
+	}
+
+	// amount of momentum to reach angular velocity
+	public float GetMomentum(float angvel)
+	{
+
+		return (angvel - ang_velocity) / inv_inertia;
+	}
+
+	// update angular velocity
+	public void ApplyMomentum(float momentum)
+	{
+		ang_velocity += inv_inertia * momentum;
+	}
+
+	// update angle
+	public void Integrate(float dt){
+		angle += ang_velocity * dt;
+	}
+}