Hi, I'm building a simple 2D simulator for mobile robots, and I'd like to be able to determine the translation and rotation of a 2-wheeled simulated robot based on simple kinematics (no forces, friction etc). So, given these: - angular velocity of each wheel (rad/s) - wheel radius (m) - distance between the wheels (m) I'd like to have a formula / method for determining the robot's translation in the x,y plane and its rotation, given a certain timestep size (e.g., given the above three variables, how much will the robot translate and rotate in 64ms). I know that when e.g. the left wheel moves faster than the right, the robot will start to turn to the right, but I can't figure out / find how. Thanks in advance for the help!