Maybe, instead of using Blitz collision on the wheels which instantly forces them to be in perfect contact with the ground, you can use a sphere->poly check to find out whether the wheels are penetrating the ground (or other objects) and then move them back along the collision normal, at a speed dep. upon how bouncy you want the rubber tires to be.
Maybe that would simulate soft contacts? Basically that's how it works in ODE - you set an error correction level that allows intersection but works it out and resolves it over a number of frames, so objects penetrate but then slowly (or quickly dep. upon how you set it up) push apart from each other.
I think you'd need to log the normal of the first collision and then use that until the objects were apart. Having just written that produces all sorts of images in my mind of situations and geometry where it'd fall over. Hmmm. Maybe log all collisions and normals and average them?
Maybe that would simulate soft contacts? Basically that's how it works in ODE - you set an error correction level that allows intersection but works it out and resolves it over a number of frames, so objects penetrate but then slowly (or quickly dep. upon how you set it up) push apart from each other.
I think you'd need to log the normal of the first collision and then use that until the objects were apart. Having just written that produces all sorts of images in my mind of situations and geometry where it'd fall over. Hmmm. Maybe log all collisions and normals and average them?