public WheelContactPoint(RigidBody body0,RigidBody body1,ref Vector3 frictionPosWorld,ref Vector3 frictionDirectionWorld, float maxImpulse)
{
m_body0 = body0;
m_body1 = body1;
m_frictionPositionWorld = frictionPosWorld;
m_frictionDirectionWorld = frictionDirectionWorld;
m_maxImpulse = maxImpulse;
float denom0 = body0.ComputeImpulseDenominator(ref frictionPosWorld,ref frictionDirectionWorld);
float denom1 = body1.ComputeImpulseDenominator(ref frictionPosWorld,ref frictionDirectionWorld);
float relaxation = 1f;
m_jacDiagABInv = relaxation/(denom0+denom1);
}
