Configuring RBD Constraints for Tire Rotation & Suspension

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Hi! I've been following this [www.youtube.com] tutorial on how to set up vehicle destruction with RBDs. It's been cool!

After generating the proxy geo for the tires, I'm having trouble figuring out how he creates the points for attaching the wheels to the car.





He briefly explains which constraints he uses at 12:24 in the video, but it's unclear in my mind how he creates the attachment points and how he makes those stick with the rest of the RBD sim.

So basically I'm just trying to figure out how I would attach my proxy wheels to my car to work with all the constraints he mentions. (Also as a note, I'm using the RBD bullet solver as opposed to a vanilla DOP network.)

I'd be grateful for any pointers.
Thanks!

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