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Impulse constraint for car wheel to body.

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Hi, I'm wondering if someone can point me in the right direction of how to create and impulse constraint to simulate the joint between a car body a wheel. You have one degree of freedom along the suspension axis, and rotation around a give vector. For the linear part I guess I need to make the relative velocity - the relative velocity along the suspension axis = 0, but I'm not sure how to make the suspension stay aligned correctly to the car body and only allow rotation around the given rotation axis. Any help would be great. Cheers, Mark.

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