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How to make car suspension and steering in DOP????


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Hey, guys. I'm making car destruction scene and I'm almost done.
but I have some problem about make wheel steering and suspension

I made a straight and backward drive system that used hard constraint.
and now, I try make wheel steering and suspension but I don't know how to make it

I found various ways through the search, but I don't know how to apply it to my situation.
and then I don't wanna use CHOP... 

these are I found ways


and attached file that my test hip file.

Please let me know how to apply it to my situation...!!!




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