irr::core::vector3df whr[4];
	whr[0].set(0,0,0);
	whr[1].set(0,-180,0);
	whr[2].set(0,0,0);
	whr[3].set(0,-180,0);


	for (int i=0;i<4;i++)
	{
		NxMat34 pose = vehicle->getWheel(i)->getRotation();

		const NxVec3 pos = pose.t;
		const NxMat33 orient = pose.M;

		irr::core::matrix4 irrMat;
		orient.getColumnMajorStride4(&irrMat.M[0]);
		pos.get(&irrMat.M[12]);

		irrMat.M[3] = irrMat.M[7] = irrMat.M[11] = 0.0f;
		irrMat.M[15] = 1.0f;

		
		whr[i].Y += vehicle->getWheel(i)->getAngle() * irr::core::GRAD_PI;

		if (i==0||i==2)
			ba[i] += vehicle->getWheel(i)->getAngle2();
		else
			ba[i] -= vehicle->getWheel(i)->getAngle2();

		whr[i].X = ba[i];

		irr::core::matrix4 irrMat_b;
		irrMat_b.setRotationDegrees(whr[i]);
		irrMat*=irrMat_b;
		
		wheel_nodes[i]->setPosition(irrMat.getTranslation());
		wheel_nodes[i]->setRotation(irrMat.getRotationDegrees());
	}