Articulated steering

Hi community,

currectly i struggle with the calculation and usage of articulated steering on a vehicle.



1.) So when i have a specific rotation angle, lets say 15 degrees, i would like to know how the vehicle has to move in the correct radius and how to calculate the rotation point, if needed?

2.) Which angle is truely necessary and how do i get it the best way?

I don't like to use wheelcollider or such.

I hope i find some help here.

Cheers OctoMan

 

Actually i made a step forward in calculating the steering angle.

Code (csharp):

1.  
2. Vector3 targetDir = rotAxis.transform.position - transform.position;
3. targetDir = rotAxis.transform.InverseTransformDirection(targetDir);
4.  
5. steerAngle = (Mathf.Atan2(targetDir.y, targetDir.x) * Mathf.Rad2Deg) -90;
6.  
7. Debug.Log(steerAngle);
8.  

So i have a positive and negative angle now. Next step is getting the rotation Radius and set the vector for the rotation anyhow.

 

So i was reading alot about possiblities to calculate R.
Since Y is know now, and L is measurable.

 

By using the function
tan y = l / r
and turning it because r is requested
r = l / tan y

So to get L i used

Code (csharp):

1.  
2. float length = Vector3.Distance(transform.position,rotAxis.transform.position);
3.  

Then filled the Data into the formula:

Code (csharp):

1.  
2. float Radius =  length / Mathf.Tan(steerAngle);
3.  

But when i debug that the numbers are totally wrong. When both parts are straight it should return 0, but it does something like -106.xxxx.