I mean I know that the physx vehicle uses 4 raycasts as suspensions and the actual wheel shape used for collision wih other things must not touch the drivable surface, and I also tried to recreate that. It worked but I dont know how to have the suspension on a fixed height. because I dont really need sunspension feature, the wheelchair should just “float” on the height of the radius of the wheels. If someone can tell me how to do this with a raycast, everything else is not a problem anymore.