[ODE] rotation of wheels

[Tristan McMillan]

Hi ODE community

I am having an extreme problem with wheels on a truck I'm creating in
ode. I have implemented the set finite rotation axis but my rear wheels
still seem to follow the arc of the front wheels.

I was thinking this could be happening since I haven't implemented a
differential to allow for the two rear wheels to rotate at different
angular velocities when cornering.

Has anyone else experienced this problem?

Does anyone know how to implement a differential?

I can make the code available if need be.

Thanks
Tristan