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best way to simulate vehicle in city

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Hi all.
I'm now thinking about simulating vehicle with Bullet. I am using simple ray cast with a few improvements now, but simple ray cast is a very bad way to simulate. Convex cast or rigid body better for me (i think soft body is to expensive) because in city there are curbs and a lot of other stuff what must correctly react with wheels.
But for rigid body wheels angular velocity can become a big, very big problem.
Convex cast also have problems like expensive calculating and the vehicle will be able to drive over most small objects.
I think it`s real to make vehicle at rigid bodys at slow speed and at convex or maybe ray cast wheels at high speed, but there are a lot of problems with changing simulating type and making these methods are identical
Sory for my bad English.

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