How to model a car with 2 torque motors?

[dizcza]

Dear physics simulator developers,

I have a real robot with 2 torque motors and I've set up a virtual environment that simulates the robot's behavior. I'm struggling with the physics of 2 wheels (of radius R) that are connected to torque motors that drive the car. My car has a certain size of H x W. The picture of the car, if necessary, you can find here https://github.com/dizcza/f446-FunduMoto.
When two motors/wheels rotate with the same angular velocity, the robot moves forward. When one motor is on and another is off, the car spins around the inactive wheel. How to model the trajectory of a robot in other cases when both motors are active but their angular velocities are different?
I was trying to find the answer in the depths of pybullet racecar demo, but I couldn't find this part.
I'm interested in practical implementation but ideas would also be fine.
Thank you.

Update 1.
My robot is very simple - the wheels are always parallel to each other.

Cheers,
Danylo.

[dizcza]

Okay, this is called Differential drive and here is
1) implementation: http://ais.informatik.uni-freiburg.de/t ... t03sol.pdf
2) theory: http://ais.informatik.uni-freiburg.de/t ... motion.pdf

You can close the topic.