[ODE] Wheels?

[Christian Genne]

Hi all,

Is there any way to use flat-end cylinders in ODE? You can setup the mass 
of one, but not the geom? I've created a car and would like the wheels to 
be as "perfect" as possible. I'm using the TerrainAndCone code for the 
terrain, so i guess i only need some collision functions for 
cylinder-plane and cylinder-ray, but searching the net i found nothing. 
Any ideas?

Thanks, Christian