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

    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 turnRadius = wheelBase / Mathf.Tan(radianSteeringAngle);
        float leftTurnRadius = turnRadius + (tread / 2);
        float rightTurnRadius = turnRadius - (tread / 2);

        // 左右の車輪の角度を設定
        leftWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / leftTurnRadius);
        rightWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / rightTurnRadius);
    }
}