HoHCI-BikeSteering/Assets/Scripts/Tracking/FrontWheelTracker.cs

using System;
using UnityEngine;

namespace Tracking
{
    public class FrontWheelTracker : CalibratableTracker
    {
        protected override string KeyPrefix => "fw";
        public float trackerDistanceToWheelCenterPoint;
        public KineticLegTracker legTracker;

        public float SteerRotation
        {
            get
            {
                //legTracker position is added to compensate movements of the whole installation
                var posOnBikePlane = Vector3.ProjectOnPlane(RelativePosition + legTracker.RelativePosition, bicycleTransform.up);
                var theta = Mathf.Acos(Mathf.Clamp(posOnBikePlane.x / trackerDistanceToWheelCenterPoint, -1f, 1f));
                return 90f - theta * Mathf.Rad2Deg;
            }
        }
    }
}