i played around with a6's physics engine for a while now and have some questions...

is PH_CYLINDER already implemented as collision hull? i saw it in the manual under physics constants but it isn't listed under collision hulls and it didn't seem to work when i tried to use it.

i would like to set up a car with realistic physics. i know i have to attach the wheels to the chassis per constraints (probably with the PH_WHEEL constraint?). how does the car move then? do i have to add a force to the chassis or should i add torque to the wheels (wheel constraint motor?) and the chassis moves automatically with the wheels then? and where should the chassis model's point of origin be? in the middle between the rear wheels?