The model of the car simulates the physics.. the car cannot be rotated directly, only applying the
torque of the friction forces of the wheels
The next image shows all the forces applied to the car.
red:aceleration (applied in the center of the axis (this car has front drive)
light green: friction of the rotationof the wheels
dark green: sliding friction of the wheells (always ortogonal to the wheel direction)
blue: current velocity
In this image, the car is turning (the driver send the command to turn the wheel to the right)
This produces a change in the forces applied.
Now I need to know how to send the right command to stop and avoid the collision. (As used in the separation