Init

Assets/Scripts/CarController.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CarController : MonoBehaviour
+{
+    public Wheel[] wheels;
+    public Rigidbody rb;
+
+    void Awake(){
+        foreach(Wheel wheel in wheels){
+            wheel.myCar= this;
+        }
+    }
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}

Assets/Scripts/CarController.cs.meta

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Assets/Scripts/Wheel.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Wheel : MonoBehaviour
+{
+    public float radius =0.35f;
+    public float defaultPosition;
+    public float springConstant =1f;
+    public ForceMode springForceMode;
+    public float displacementRange = 0.1f;
+    public float dampningSpeed =0.1f;
+    public float hitPoint=0;
+    public float curDisplacement => defaultPosition- transform.localPosition.y;
+    public float minDisplacement => defaultPosition + displacementRange;
+    public float maxDisplacement => defaultPosition - displacementRange; 
+    LayerMask groundMask;
+
+    public CarController myCar;
+    
+    void Awake()
+    {
+        defaultPosition=transform.localPosition.y;
+        groundMask = LayerMask.GetMask("Ground");
+    }
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        if(myCar==null){return;}
+
+        RaycastHit hit = new RaycastHit();
+        float newDisplacement = transform.localPosition.y;
+        float bottomEnd = transform.position.y - radius;
+        // hitPoint=0;
+        bool grounded=false;
+
+        // if(Physics.Linecast(transform.position+new Vector3(0,0,-0.1f), new Vector3(transform.position.x,bottomEnd,transform.position.z-0.1f), out hit, groundMask)){
+        //     Debug.DrawLine(transform.position, hit.point, Color.red);
+            
+        //     hitPoint=hit.point.y;
+        //     grounded=true;
+        // }
+        if(Physics.Linecast(transform.position, new Vector3(transform.position.x,bottomEnd,transform.position.z), out hit, groundMask)){
+            Debug.DrawLine(transform.position, hit.point, Color.red);
+            // if(hit.point.y > hitPoint){
+                hitPoint=hit.point.y;
+            // }
+            
+            grounded=true;
+        }
+        // if(Physics.Linecast(transform.position+new Vector3(0,0,0.1f), new Vector3(transform.position.x,bottomEnd,transform.position.z+0.1f), out hit, groundMask)){
+        //     Debug.DrawLine(transform.position, hit.point, Color.red);
+        //     if(hit.point.y > hitPoint){
+        //         hitPoint=hit.point.y;
+        //     }
+            
+        //     grounded=true;
+        // }
+        
+        if(!grounded){
+            newDisplacement = maxDisplacement;
+            Debug.Log("Not Touching ground ");
+        }else{
+            newDisplacement=hitPoint+radius;
+        }
+
+        transform.position = Vector3.Lerp(transform.position, new Vector3(transform.position.x,newDisplacement, transform.position.z),dampningSpeed);
+        if(curDisplacement < 0){
+            //Apply upforce
+        }
+            myCar.rb.AddForceAtPosition(-Physics.gravity*springConstant,transform.position,springForceMode);
+
+    }
+
+    void OnDrawGizmos() {
+        Gizmos.color = Color.green;
+        
+        int segmants = 12;
+
+        Vector3 lastPoint= Vector3.zero;
+        for(int i=0; i< segmants;i++){
+            float theta = ((Mathf.PI*2)/segmants) * i;
+            float z= transform.position.z + (radius * Mathf.Sin(theta));
+            float y= transform.position.y +(radius * Mathf.Cos(theta));
+            Vector3 thisPoint = new Vector3(transform.position.x,y,z);
+            
+            
+            if(i>0){Gizmos.DrawLine(lastPoint,thisPoint);}
+            lastPoint = thisPoint;
+        }
+
+        Gizmos.DrawWireSphere(new Vector3(transform.position.x,hitPoint,transform.position.z),0.2f);
+    }
+}

Assets/Scripts/Wheel.cs.meta

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