Rigid Wheel (Articulated) Suspension system advice please

[RJNelson68]

I have the suspension system already put together and have the joints and rigidbodies all working as they should in a networked environment. The following are a few implementation areas that I could use suggestions for. I'm not asking for anyone's code, just some suggestions on how you would go about achieving what I need to do.

First let me just say the suspension is comprised of a chassis rigidbody then 4 Dof6 joints connecting rigidbodies used for hubs. This portion allows spring suspension and steering. Next is a nother 4 rigidbodies for wheels connected to their corresponding hub rigidbody with a hinge joint to allow for wheel rotation.

1. How would you recommend steering the wheels?

2. How would you recommend applying rotational torque to the powered wheels?

3. How would you implement a anti-sway bar system? In this case I know you need to get the applied vertical force and add it to the adjacent assembly by some sort of factor of the original force.

I'm sure after a while of beating my head into my desk I will figure this out, but I am wise enough to know to ask other programmers for advice when I'm trying to venture into something I am unfamiliar with.

Thank you in advance for any help you give.

[RJNelson68]

I moved this post because it was really in the wrong section.

Now for my first part of the question in regards to steering i figure that I should be using the spring motor. The question I would have there is how to make it move?

The Second question I figured out, mostly. Torque time the radius of the wheel applied as an impulse would be the angular velocity I would want. But how to leave it free rolling when there is not torque being applied?

I would also like to ask if anyone know if there is a variable with the joints that allows you to see what length they are at? You know so I can tell what point a spring is at within its range limits.