Solutions to complex dynamic wheels movement in a Tank AI

[sick sandal]

I rigged a scorpion model from halo and managed to script it's ai to work fine but my main problem is with the wheels for non-flat terrain

im unsure what should i even use for something like this (the highlighted white parts are for joints between the main body of the tank and 1 of the wheel bases)

[cursive drift]

** You are now Level 9! **

[keen coral]

ikcontrol