Managed to get the vehicle constraint for wheeled vehicles from Jolt Physics integrated. Deploying and retracting gear still needs to be implemented. The ground is simulated with a mesh and the vehicle body is a compound consisting of several convex hulls.
Discovered that there is now a website about the connascence software metric popularized by Jim Weirich. Connascence is a big step towards a theory of software engineering.
Getalby now wants 210000 sats/year for their custodial wallet. Wouldn't mind them taking a transaction fee but this is too expensive for the small amount I am using it for.