true, it isnt that tricky. thats a solution, how i figured out solved this problem. i wished i had red your post before, the crossproduct way sounds much faster.
i was doing also for each tire a collision ray (i know i have to spin them in relation to the car orientation, i havnt done this so far, but its for sure not that tricky) and just getting out the radians between. (i know that should be overworked and i will do this soon)
[url]eatMORE]
hope that helps