Slave = class('Slave')

function Slave:initialize(options)
    options = options or {}

    self.entity = options.Entity
    self.base = options.Base

    self.camber = options.Camber
    self.caster = options.Caster
    self.ackermann = options.Ackermann
    self.isLeft = options.IsLeft
    self.offset = options.Offset
end

function Slave:rotate(ang)
    if self.entity:isFrozen() == false then
        self.entity:setFrozen(1)
    end

    local ackermann = math.sin(math.rad(ang)) ^ 2 * self.ackermann * (self.isLeft and -1 or 1)
    local yaw = self.offset + ang + ackermann
    local roll = (self.isLeft and 1 or -1) * self.camber - ang / 270 * self.caster

    local angle = Angle(0, yaw, roll)
    local transformedAngle = self.base:localToWorldAngles(angle)

    self.entity:setAngles(transformedAngle)
end