Cylinder wheels question

[CrystalH]

Ah so wheel shape pos/rot is being set here:
CARDYNAMICS::UpdateWheelTransform()
body->setChildTransform(i, btTransform(rot, pos));

Hmm, so cylinder wheels are shapes inlcuded in chassis rigid body.
This means if I collide with wheel, it acts just like it was chassis.
I.e. no unsprung mass from wheel acting through suspension on chassis.

Would it be possible (or make sense) to have wheel cylinders as dynamic rigid bodies, get their contacts from bullet callback, feed one of those to tire contact, compute simulation like always, then get wheel position from suspension and use it to set wheel cylinders pos and rot.

Can we maybe use a computed normal by just vector of contact point - wheel center ?