Cylinder wheels question

[CrystalH]

Sure, I'm just asking because I want to add this in StuntRally.
I've seen in code that you add cylinders for wheels:

Code:

        btCollisionShape * shape = new btCylinderShapeX(size);

I can't find though where do you set its position or rotation ? Does it move with suspension ?
It does rotate with steering angle, I've seen that in game.

The WheelContactCallback is interesting, do I get it right that it ignores contacts from the upper half of wheel ?
Is it a possible implementation (could it work) to have wheel cylinder contacts (from bullet callback) feeding wheel contacts in cardynamics ? (ofc in SR, not in VDrift, since you have bezier patches).