Feel free to nick anything you like from
http://www.rowlhouse.co.uk/jiggle
The cars in there use a raycast for each wheel to generate the suspension forces. Then the drive/grip forces are calculated for each wheel - There''s a lot of scope for improvement.
Another way is to use the raycast for the suspension forces, but for the drive/turning (etc) forces/torques calculate them for the car as a whole - not per wheel. I.e. do things like have a lookup table that tells you what the turning torque will be for a given car speed/steering wheel angle etc.
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