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btScalar chassisMass(1000.f);
btVector3 chassisInertia(0.0f, 0.0f, 0.0f);
btCollisionShape* chassisShape = new btBoxShape(btVector3(0.5f, 0.3f, 1.0f));
tuning.m_suspensionStiffness = 20.f;
tuning.m_suspensionDamping = 2.3f;
tuning.m_suspensionCompression = 4.4f;
tuning.m_maxSuspensionForce = 16000;
chassisRigidBody->setDamping(0.2f, 0.3f);
groundRigidBody->setFriction(2.f);
btVector3 wheelDirection(0.0f, -1.0f, 0.0f);
btVector3 wheelAxis(-1.0f, 0.0f, 0.0f);
btScalar suspensionRestLength(.1f);
btScalar wheelRadius(0.5f);
vehicle->addWheel(btVector3(-0.5f, 0.f, -1.0f), wheelDirection, wheelAxis, suspensionRestLength, wheelRadius, tuning, true);
vehicle->addWheel(btVector3( 0.5f, 0.f, -1.0f), wheelDirection, wheelAxis, suspensionRestLength, wheelRadius, tuning, true);
vehicle->addWheel(btVector3(-0.5f, 0.f, 1.0f), wheelDirection, wheelAxis, suspensionRestLength, wheelRadius, tuning, false);
vehicle->addWheel(btVector3( 0.5f, 0.f, 1.0f), wheelDirection, wheelAxis, suspensionRestLength, wheelRadius, tuning, false);