# FSteeringUtility

References

 Module ChaosVehiclesCore Header /Engine/Source/Runtime/Experimental/ChaosVehicles/ChaosVehiclesCore/Public/SteeringUtility.h Include #include "SteeringUtility.h"

Syntax

struct FSteeringUtility

Variables

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);

float K1 = Sqr(l1 / l2 - 2.0f * FMath::Sin(Gamma));

/float PartSum = K1 - Sqr(FMath::Cos - FMath::Cos); //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

Name Description

void

AkermannSetup

(
float T,
float Beta,
float R,
float& OutH,
float& OutS
)

void

CalcJointPositions

(
float T,
float Beta,
float R,
FVector2D& C1,
float& R1,
FVector2D& C2,
float& R2
)

void

CalculateAkermannAngle

(
bool Flip,
float Input,
FVector2D& C2,
float R1,
float R2,
float& OutSteerAngle,
FVector2D& OutC1,
FVector2D& OutPt
)

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

(
float TrackWidth,
float WheelBase
)

if()

bool

IntersectTwoCircles

(
float R1,
float R2,
float D,
FVector2D& OutIntersection
)

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