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Creating 2 wheeled Vehicles

Hello everyone…

I was interested to know has anyone managed making a good 2 wheeled vehicle using PhyX.

I am looking for creating something similar to this.
https://www.youtube.com/watch?v=Z3F7PWnwE5I (The first one)

So the vehicle can swing side to side while keep balance as well as turn well.

I am not sure if I should use Phyx or should create something from scratch.