Incorrect Wheel Rotation Handling in VehicleMechanics.cs of PhysicsSamples/Assets/12. Raycast Car

[xdxttt]

In the file PhysicsSamples/Assets/12. Raycast Car/Scripts/VehicleMechanics.cs, there appears to be a logical error in the handling of wheel steering and rolling, specifically in the #region handle wheel steering and #region handle wheel rotation sections. The issue causes steering wheels to not roll correctly.

Expected Behavior:
When a wheel is used for steering, it should both steer (change yaw angle) and roll (rotate about its axle) correctly based on the vehicle's movement and steering input.

Actual Behavior:
The steering wheels do not roll correctly. The logic in the #region handle wheel rotation section does not properly account for the steering angle when updating the wheel's rotation, leading to incorrect or inconsistent rolling behavior.

Code Snippet:

#region handle wheel steering
{
    // update yaw angle if wheel is used for steering
    if (wheel.ValueRO.UsedForSteering != 0)
    {
        quaternion wRotation = quaternion.AxisAngle(ceUp, desiredSteeringAngle);
        weRight = math.rotate(wRotation, weRight);
        weForward = math.rotate(wRotation, weForward);

        newLocalTransform.ValueRW.Rotation = quaternion.AxisAngle(math.up(), desiredSteeringAngle);
    }
}
#endregion

float currentSpeedUp = math.dot(velocityAtWheel, weUp);
float currentSpeedForward = math.dot(velocityAtWheel, weForward);
float currentSpeedRight = math.dot(velocityAtWheel, weRight);

#region handle wheel rotation
{
    // update rotation of graphical representation about axle
    bool isDriven = driveEngaged && wheel.ValueRO.UsedForDriving != 0;
    float weRotation = isDriven
        ? (driveDesiredSpeed / mechanics.wheelBase)
        : (currentSpeedForward / mechanics.wheelBase);

    weRotation = math.radians(weRotation);

    newLocalTransform.ValueRW.Rotation = math.mul(localTransform.ValueRO.Rotation, quaternion.AxisAngle(new float3(1f, 0f, 0f), weRotation));         // TODO Should this use newLocalTransform to read from?
}
#endregion