Tutorial text

Based on the original TORCS Robot Tutorial by Bernhard Wymann.

Permission is granted to copy, distribute and/or modify this document under the terms of the GNU Free Documentation License, Version 1.2 or any later version published by the Free Software Foundation; with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts. A copy of the license is supplied as GNU Free Documentation License.

Welcome illustration

The penguin and racing-car drawing on the tutorial's welcome page was created by Jean-Christophe Durieu. The original tutorial credits his permission to use it on the title page. This edition retains the illustration and that credit; it does not assign a new license to the artwork.

Teaching diagrams

The vector diagrams accompanying the explanations are distributed under the same GNU Free Documentation License terms as the tutorial text. They are separate from Jean-Christophe Durieu's welcome illustration.

Checkpoint artwork and simulator images

The stock-car artwork is copyright © 2012 Bernhard Wymann. The Tutorial B and C livery adaptations and pit-logo artwork are copyright © 2026 Bernhard Wymann, distributed under the Free Art License 1.3. Each complete artwork checkpoint includes ARTWORK.txt, layered XCFs, editable SVGs, exported SGI images, and the upstream source location. The atlas preview depicts this same artwork, with a checkerboard behind transparent pixels.

The Appendix B and C simulator screenshots show the supplied artwork on TORCS's car1-stock1 model and g-track-1 track. Those underlying game assets retain their respective authorship and licenses. The schematic lookup, mapping, ownership, and configuration diagrams use the tutorial's GNU FDL terms.

Formula rendering

Equations are rendered locally with MathJax 3.2.2, distributed under the Apache License 2.0. The bundled files and provenance are in src/doc/mathjax/.

MathJax license text

Example code

The example code and build/configuration files are distributed under the GNU General Public License, version 2 or (at your option) any later version. See their file headers and the repository's GPL license. They are supplied without warranty.

Return to the Robot Tutorial.