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How to connect tire 3d mesh to the wheel colliders?

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I'm trying to create a vehicle with realistic physics. Ok I've been looking at several tutorials about Wheelcolliders. I know they shouldn't be parented to the wheels but instead to empty Game Objects, etc. However I was wondering how the Tires (the 3d meshes) are able to move around with them. The tutorials don't seem to parent the actual 3d mesh to the Wheelcolliders, so I was wondering how to "connect" them? So that for example they can bounce if you run over an obstacle?

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