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Getting the position of the wheel in wheelshape? (physx)

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i'm currnelty using the PhysX raycast car method sample to add vehicles to my game, now my issue is with the wheels. I have the suspension and all that setup however I don't know how to get the position of the wheel relative to the suspension. I can get the position of the NxWheelShape but it doesn't move with the suspension, so what happens is the wheels are where they should be but they don't extend or contract with the suspension making it look very much unrealistic. The reason I'm using NxWheelShape is because it is recommended I use it but I might just go for a more rigid body oriented approach and just cobble together a vehicle using capsules and joints but still, I'd rather do it properly if it is at all possible?

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