private void CalculateTurning()
{
// Initialize the properties in Tyre
tyre.ForwardVelocity = ForwardVelocity;
tyre.SteerAngle = SteerAngle;
tyre.LateralVelocity = Movement.LateralVelocity();
tyre.YawVelocity = Movement.YawVelocity();
// Initialize the properties in Forces
Forces.TyreForceFront = tyre.TyreForceFront();
Forces.TyreForceRear = tyre.TyreForceRear();
// Initialize the properties in Movement
Movement.FyTotal = Forces.FyTotal();
Movement.MzTotal = Forces.MzMoment();
Movement.DeltaT = DeltaT;
Movement.ForwardVelocity = ForwardVelocity;
// Initialize the properties in Position
previousYawVelocity = Position.YawVelocity = Movement.YawVelocity();
Position.LateralVelocity = Movement.LateralVelocity();
Position.DeltaT = DeltaT;
Position.ForwardVelocity = ForwardVelocity;
Position.YawAngle = YawAngle;
Position.YawVelocityIntegral();
// Calculate the new world coordinates for the vehicle
if (!reverseGear)
{
XCoordinate += Position.VehicleDisplacementX();
YCoordinate += Position.VehicleDisplacementY();
}
else
{
// If reverse gear has been initiated, reverse position
XCoordinate -= Position.VehicleDisplacementX();
YCoordinate -= Position.VehicleDisplacementY();
}
//Set previous movement values
Movement.PreviousLateralVelocity = Movement.LateralVelocity();
Movement.PreviousYawVelocity = previousYawVelocity;
YawAngle += DeltaT * Movement.YawVelocity();
}