gistfile1.txt

    private void updateVehicle(double dt) {
        this.position.x += Math.cos ( Math.PI * this.orientation / 180.0) * dt *
            (this.leftWheel.getSpeed () + this.rightWheel.getSpeed ()) / 2;
        this.position.y += Math.sin ( Math.PI * this.orientation / 180.0) * dt *
            (this.leftWheel.getSpeed () + this.rightWheel.getSpeed ()) / 2;
        this.position.orientation += 0.5 * dt * ( this.rightWheel.getSpeed() - this.leftWheel.getSpeed());
        this.position.orientation = ( this.position.orientation + 360) % 360; // keep orientation within range 0 -360
    }