Car physics using nodes

Has anyone ever implemented logic node scripting to produce vehicle physics? If so I really need help on how to go about it. I myself managed to translate the vehicle body but tried to use the RotateObject node to rotate the wheels but the problem is it deforms the cylindrical shape of the wheels to produce a weird shape when moving.

I do not understand the situation well.

Is this not working properly?

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Thanks Sandy, Let me try your nodes and get back to you. I was failing to rotate the wheels properly. My cylinder mesh would deform to form an eclipse when I used rotate node so now that you have provided a solution, let me implement it and see. Will update.