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API > API/Runtime > API/Runtime/ChaosVehiclesCore
References
| Module | ChaosVehiclesCore |
| Header | /Engine/Source/Runtime/Experimental/ChaosVehicles/ChaosVehiclesCore/Public/SteeringUtility.h |
| Include | #include "SteeringUtility.h" |
Syntax
struct FSteeringUtility
Variables
| Type | Name | Description | |
|---|---|---|---|
 |
OutSteerB | Static void Akerman(float Input, float& OutSteerA, float& OutSteerB) { float l1 = 2.0f; float l2 = 0.15f; float Gamma = DegToRad(18.0f); |
FMath::Sin(Gamma - A) + FMath::Sin(Gamma + B);
float K1 = Sqr(l1 / l2 - 2.0f * FMath::Sin(Gamma));
/float PartSum = K1 - Sqr(FMath::Cos(Gamma - A) - FMath::Cos(Gamma - B)); //float Ans = FMath::Sqrt(PartSum); float Gamma = DegToRad(18.0f);
float t = 2.0f; // width between wheels float r = 0.15f; // track length float h = r * FMath::Cos(Gamma); // track depth float s = t - 2.0f * r * FMath::Sin(Gamma);
float Beta = FMath::Atan((t - s) / (2.0f * h));
float dev = Input * 0.5f; OutSteerA = RadToDeg(FMath::Atan((t - (s - dev)) / (2.0f * h))); /** |
Functions
| Type | Name | Description | |
|---|---|---|---|
  |
void | AkermannSetup
(
float T, |
|
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void | CalcJointPositions
(
float T, |
|
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void | CalculateAkermannAngle
(
bool Flip, |
Static void CalculateAkermannAngle(float Input, float& OutSteerLeft, float& OutSteerRight , FVector2D& OutPtLeft = FVector2D(), FVector2D& OutPtRight = FVector2D()) float RestAngle; FVector2D PtRest; CalculateAkermannAngle(false, 0.0f, PtRest, RestAngle); CalculateAkermannAngle(true, Input, OutSteerLeft, OutPtLeft); CalculateAkermannAngle(false, Input, OutSteerRight, OutPtRight); OutSteerLeft -= RestAngle; OutSteerRight -= RestAngle; |
  |
float | CalculateBetaDegrees
(
float TrackWidth, |
|
 |
if () |
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bool | IntersectTwoCircles
(
float R1, |
T - Track width W - Wheelbase H - Distance form steering rod to center of axle R - Rod End Length S - Steering Rod Length (Half)Intersection of two axis aligned circles Radius R1, R2 with a separation distance between centers of D |