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Car physics

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I want to have some fancy car-driving in my next top-down game but I can't find a good resource for how cars "turn" online. I have Physics for Game Developers but it doesn't even bother going over how the rear- and front-wheel drive machines provide force and the wheels turn the car.

I read this, but I was hoping there was something else that was perhaps a bit easier to follow. Am I just being a whiny bitch and should read the tutorial there, or is there genuinely an alternative so I can roll my own simple-ass car physics library without having to use ODE and its ugly-ass mesh collision system?
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