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Wheel rotation rate.

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Hi! Currently developing a car simulator and have gotten stuck at calculating the wheel rotation rate. In Marco Monster's tutorial he has written "The more advanced way is to let the simulation keep track of the rear wheel rotation rate and how it changes in time due to the torques that act on the rear wheels. In other words, we find the rotation rate by integrating the rotational acceleration over time. The rotational acceleration at any particular instant depends on the sum of all the torques on the axle and equals the net torque divided by the rear axles inertia (just like linear accelaration is force divided by mass). The net torque is the drive torque we saw earlier minus the friction torques that counteract it (braking torque if you're braking and traction torque from the contact with the road surface)." So how do I go about implementing this theory into code? Any clues would be helpful.

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