ID/Assets/Code/Base/Agent.cs

using UnityEngine;

namespace Code.Base
{
    public class Agent : MonoBehaviour
    {
        public float maxSpeed;
        public float maxAcceleration;
        public float maxRotation;
        public float maxAngularAcceleration;
        public float orientation;
        public float rotation;
        public Vector3 velocity;
        protected Steering Steering;

        void Start()
        {
            velocity = Vector3.zero;
            Steering = new Steering();
        }
        
        public void SetSteering(Steering steering) => SetSteering(steering, 1.0f);
        
        public void SetSteering(Steering steering, float weight)
        {
            Steering.Linear += weight * steering.Linear;
            Steering.Angular += weight * steering.Angular;
        }

        public virtual void Update()
        {
            var displacement = velocity * Time.deltaTime;
            orientation += rotation * Time.deltaTime;
            
            switch (orientation)
            {
                case < 0:
                    orientation += 360;
                    break;
                case > 360:
                    orientation -= 360;
                    break;
            }
            
            transform.Translate(displacement, Space.World);
            transform.rotation = new Quaternion();
            transform.Rotate(Vector3.up, orientation);
        }

        public virtual void LateUpdate()
        {
            velocity += Steering.Linear * Time.deltaTime;
            rotation += Steering.Angular * Time.deltaTime;

            if (velocity.magnitude > maxSpeed)
            {
                velocity.Normalize();
                velocity *= maxSpeed;
            }
            
            if (Steering.Angular == 0) rotation = 0;
            
            if (Steering.Linear.sqrMagnitude == 0) velocity = Vector3.zero;
            
            Steering =  new Steering();
        }
    }
}