Ackermann Steering Geometory for Unity in C#

AckermannSteering.cs

using UnityEngine;

public class AckermannSteering : MonoBehaviour
{
    [SerializeField] private float steeringAngle; // ステアリングの切れ角
    [SerializeField] private float tread; // 左右の車輪間の距離 (トレッド)
    [SerializeField] private float wheelBase; // 前後の車輪間の距離 (ホイールベース)

    public float leftWheelAngle { get; private set; } // 左車輪の角度
    public float rightWheelAngle { get; private set; } // 右車輪の角度
    public float turningRadius { get; private set; } // 回転半径
    public Vector3 turningCenter { get; private set; } // 回転中心位置

    void Update()
    {
        CalculateAckermannSteering(steeringAngle, tread, wheelBase);
    }

    private void CalculateAckermannSteering(float steeringAngle, float tread, float wheelBase)
    {
        // Ackermann steering geometryの計算
        float radianSteeringAngle = Mathf.Deg2Rad * steeringAngle;
        float innerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (wheelBase / Mathf.Tan(radianSteeringAngle) - tread / 2));
        float outerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (wheelBase / Mathf.Tan(radianSteeringAngle) + tread / 2));

        // 左右の車輪の角度を設定
        leftWheelAngle = outerWheelAngle;
        rightWheelAngle = innerWheelAngle;

        // 回転半径の計算
        turningRadius = wheelBase / Mathf.Sin(Mathf.Abs(radianSteeringAngle));

        // 回転中心位置の計算
        float turningCenterX = wheelBase / Mathf.Tan(radianSteeringAngle);
        turningCenter = new Vector3(turningCenterX, 0, -wheelBase);
    }
}