Thankyou for your considerations, William, and thankyou again for share your workaround with your kart racing game.In fact, I decided to start developing my own physics reading your posts from some time ago. Thanks for your inspiration lol. Was really a good thing to do.

I use almost the same approach as you, but my wheels are free, dont use bones, and I have suspension arms between the chassis and the wheels, one for each wheel. The suspension arms are still a little unstable, but they almost ready to go, maybe just need a little more work.

I had several problems using glidded c_move, with the car finishing in weird places, due to my math mistakes, probably.

I also implemented my collision with a cube, but I´m still unable to detect its collision with the environment properly.

I dont have a invisible collision mesh, that would be almost impossible in my case, because of the track slopes, ups downs and so on. So I c_trace directly to the track surface. I want the car being able to collide with every poly in the track, and dont want to make invisible walls around all the track and obstacles.

I also tryed to use scan without success, also because of my lack of ability to use it.

My last approach to this was stablish c_traces from extreme positions in the chassis ( front_left, front_right, rear_left,Rear_right ) and look for something that could penetrate the chassis boundaries to evaluate the collision. I had relative success on it, but still need to integrate it in the centripetal / longitudinal forces, and this is being a nightmare.

I´m working a new physics simulation panel to facilitate some aspects of the development, and also have already a system that I call "bricker" , that is something like a in-game WED, to place objects in the game at run time, save the obects position to a file, and retrieve them when loading a level. This system is already working, altought is yet very unintuitive, but make positioning of objects far more easy, as I can see them is theyr place and correct positioning in real time. Maybe I can release this as a stand alone product, as a user contribution, if someone shows interest.

This system is able to place objects right beside another one, to build, for example, fences around the track, or objects alone, like a building or anything else.