No Ray Casting/Overlap Queries!! Reverse using Ackermann Steering Geometry - Unity DOTS/ECS

Hello!! Today we are going to use an approximate version of Ackermann steering geometry to try and reverse a car. The idea here is simple. if a waypoint is within a circle defined by this turning radius then our car cannot reach that waypoint by making a turn. All we have to do is turn the steering wheels in the opposite direction, reverse until the waypoint is outside the circle. We can then resume moving towards the waypoint. We already have a car and Dots based Navmesh query system to calculate a path for us and dump waypoints into a buffer element, from which we are reading to navigate. You might want to watch some of my previous videos to know more about the hybrid ECS car / the Dots NavMesh query system and how they are communicating with each other. The car should never get stuck in the maze - provided, it naturally gets into a position. If we place it in unnatural positions manually then it will not be able to get itself out of the situation. This is another area where casts / overlap queries will be needed to make a right move. Ackermann steering geometry- https://en.wikipedia.org/wiki/Ackermann_steering_geometry The Science of Off-Roading: Uncharted 4's 4x4 https://www.youtube.com/watch?v=SKXqWcaoTGE Hybrid ECS - AI Car - https://github.com/ForgingStation/AI-Car---Unity-Hybrid-ECS DOTS - NavMeshQuery-Implementation https://github.com/ForgingStation/NavMeshQuery-Implementation