SuspensionSimulation/findSteering.m at master · PhoenixRacing/SuspensionSimulation · GitHub

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function res = findSteering(sol)
    P0 = sol.KnuckleUpper;
    P1 = sol.KnuckleLower;
    V0 = sol.KnuckleTie;
    n = [0,1,0];
    u = P1-P0;
    w = P0-V0;
    tI = (-dot(n,w))/(dot(n,u));
    Vint = P0 + (tI.*u);
    Vtire = [Vint(1)-V0(1),Vint(2)-V0(2),Vint(3)-V0(3)];
    ntire = norm(Vtire);
    Vntire = (Vtire)./(norm(Vtire));
    Vz = [0,0,1];
    dprod = dot(Vntire,Vz);
%     line([sol.FrontUpper(1), sol.KnuckleUpper(1), sol.RearUpper(1)], [sol.FrontUpper(3), sol.KnuckleUpper(3), sol.RearUpper(3)], [sol.FrontUpper(2), sol.KnuckleUpper(2), sol.RearUpper(2)]);
%     line([sol.FrontLower(1), sol.KnuckleLower(1), sol.RearLower(1)], [sol.FrontLower(3), sol.KnuckleLower(3), sol.RearLower(3)], [sol.FrontLower(2), sol.KnuckleLower(2), sol.RearLower(2)]);
%     line([sol.KnuckleUpper(1), sol.KnuckleLower(1), sol.KnuckleTie(1), sol.KnuckleUpper(1)], [sol.KnuckleUpper(3), sol.KnuckleLower(3), sol.KnuckleTie(3), sol.KnuckleUpper(3)], [sol.KnuckleUpper(2), sol.KnuckleLower(2), sol.KnuckleTie(2), sol.KnuckleUpper(2)]);
%     line([sol.KnuckleTie(1), sol.TieRod(1)], [sol.KnuckleTie(3), sol.TieRod(3)], [sol.KnuckleTie(2), sol.TieRod(2)]);
    line([sol.KnuckleTie(1),sol.KnuckleTie(1)],[sol.KnuckleTie(3),sol.KnuckleTie(3)-3.15],[sol.KnuckleTie(2),sol.KnuckleTie(2)]);
    line([Vint(1),sol.KnuckleTie(1)],[Vint(3),sol.KnuckleTie(3)],[Vint(2),sol.KnuckleTie(2)]);
    axis([18,21,2,7]);
    res = 180-acosd(dprod);
end