我自己做的一个raycastVehicle汽车，但是它的轮胎会有一部分再地面之下，就好像没有碰撞，直接穿透了一样，使用applyEngineForce时，穿到地面下的轮胎可以转动，其他的不行，然后有时候一直移动和转向可以将车胎移到地面上

这个问题可能是由于碰撞体的设置或车轮位置的设置不正确导致的。您可以尝试以下几个步骤来解决这个问题：

1. 确保车轮的位置设置正确。车轮的位置应该是相对于车辆的局部坐标系的。您可以在车辆的构造函数中设置每个车轮的位置：

// 设置前轮的位置
btVector3 connectionPointCS0(frontWheelPosition.x, frontWheelPosition.y, frontWheelPosition.z);

// 创建车轮
btRaycastVehicle::btVehicleTuning tuning;
btVehicleRaycaster* raycaster = new btDefaultVehicleRaycaster(dynamicsWorld);
btRaycastVehicle* vehicle = new btRaycastVehicle(tuning, chassis, raycaster);

// 设置车轮
vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, true);

2. 确保车辆的碰撞体设置正确。车辆的碰撞体应该与车辆的形状相对应。您可以在车辆的构造函数中设置车辆的碰撞体：

// 创建车辆的碰撞体
btCompoundShape* compound = new btCompoundShape();
btCollisionShape* chassisShape = new btBoxShape(btVector3(chassisWidth * 0.5f, chassisHeight * 0.5f, chassisLength * 0.5f));
compound->addChildShape(btTransform::getIdentity(), chassisShape);

// 设置车辆的质量
btScalar mass = 1000.0f;
btVector3 localInertia(0, 0, 0);
compound->calculateLocalInertia(mass, localInertia);

// 创建车辆的刚体
btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, motionState, compound, localInertia);
btRigidBody* chassis = new btRigidBody(rbInfo);

3. 在更新车轮时，确保每个车轮都处于正确的位置：

// 更新车轮
for (int i = 0; i < vehicle->getNumWheels(); i++)
{
    btWheelInfo& wheel = vehicle->getWheelInfo(i);
    wheel.m_suspensionTravelCm = suspensionTravelCm;
    wheel.m_maxSuspensionForce = maxSuspensionForce;
    wheel.m_wheelsDampingCompression = suspensionCompression;
    wheel.m_wheelsDampingRelaxation = suspensionRelaxation;
    wheel.m_rollInfluence = rollInfluence;

    // 设置车轮位置
    btTransform transform = vehicle->getChassisWorldTransform();
    btVector3 position = transform.getOrigin();
    position += transform.getBasis() * wheel.m_chassisConnectionPointCS;
    position += transform.getBasis() * btVector3(0, -wheel.m_suspensionTravelCm * 0.01f, 0);
    wheel.m_raycastInfo.m_hardPointWS = position;
    wheel.m_raycastInfo.m_wheelDirectionWS = transform.getBasis() * wheel.m_wheelDirectionCS;
    wheel.m_raycastInfo.m_wheelAxleWS = transform.getBasis() * wheel.m_wheelAxleCS;
    wheel.m_raycastInfo.m_worldTransform.setIdentity();
    wheel.m_raycastInfo.m_worldTransform.setOrigin(wheel.m_raycastInfo.m_hardPointWS);
    wheel.m_raycastInfo.m_worldTransform.getBasis().setValue(
        wheel.m_wheelDirectionCS.getX(), wheel.m_wheelDirectionCS.getY(), wheel.m_wheelDirectionCS.getZ(),
        wheel.m_wheelAxleCS.getX(), wheel.m_wheelAxleCS.getY(), wheel.m_wheelAxleCS.getZ(),
        0, 0, 0);
}

通过以上步骤，您应该能够解决车轮穿透地面的问题。