Untitled

using UnityEngine;

public class simpleCarController : MonoBehaviour
{
    
    private float horizontalInput;
    private float verticalInput;
    private float steeringAngle;
    
    public WheelCollider frontLeftWheel, frontRightWheel;
    public WheelCollider rearLeftWheel, rearRightWheel;

    public Transform frontLeftTransform, frontRightTransform;
    public Transform rearLeftTransform, rearRightTransform;

    public Vector3 centerOfMass;

    public float maxSteerAngle = 30;
    public float motorForce = 1000;

    public void GetInput() {
        horizontalInput = Input.GetAxis("Horizontal");
        verticalInput = Input.GetAxis("Vertical");
    }

    private void Steer(){
        steeringAngle = maxSteerAngle * horizontalInput;
        frontLeftWheel.steerAngle = steeringAngle;
        frontRightWheel.steerAngle = steeringAngle;
    }
    private void Accelerate(){
        frontLeftWheel.motorTorque = verticalInput * motorForce;
        frontRightWheel.motorTorque = verticalInput * motorForce;
    }

    private void UpdateWheelPoses(){
        UpdateWheelPose(frontLeftWheel,frontLeftTransform);
        UpdateWheelPose(frontRightWheel,frontRightTransform);
        UpdateWheelPose(rearLeftWheel,rearLeftTransform);
        UpdateWheelPose(rearRightWheel,rearRightTransform);
    }

    private void UpdateWheelPose(WheelCollider collider, Transform transform){
        Vector3 pos = transform.position;
        Quaternion quat = transform.rotation;

        collider.GetWorldPose(out pos, out quat);

        transform.position = pos;
        transform.rotation = quat;

    }

    void Start()
    {
        Rigidbody rb = GetComponent<Rigidbody>();
        rb.centerOfMass = centerOfMass;
    }

    // Update is called once per frame
    void FixedUpdate()
    {
        GetInput();
        Steer();
        Accelerate();
        UpdateWheelPoses();
    }
}