sneppy/rds

Real Driving Simulator

rds's Issues

Steering equation

Relationship between left wheel orientation and right wheel orientation:

A 2 is missing at the bottom of (L^2 + l^2)/r^2

In C++

const float32
	r = 1.f,
	L = 7.f,
	l = Math::sqrt(50.f) - r,
	alpha = M_PI_2 / 2.f;

float32
	s = Math::sin(alpha),
	c = Math::cos(alpha),
	A = s,
	B = (L / r) - c,
	C = 1 - (l / r) * c + (L * L - l * l) / (2.f * r * r);

float32
	y1 = 2.f * Math::atan((A + Math::sqrt(A * A + B * B - C * C)) / (B + C)),
	y2 = 2.f * Math::atan((A - Math::sqrt(A * A + B * B - C * C)) / (B + C));