Hello everybody, I'm trying to port my custom vehicle suspension that I created in Unreal Engine to Godot, this is the algorithm in Unreal:

It's pretty simple, and yet it works marvelously, so i tried to replicate it in Godot, with this setup:

The script is as follows:

extends RigidBody

onready var FR = get_node("Rays/RayCastFR")
onready var FL = get_node("Rays/RayCastFL")
onready var BR = get_node("Rays/RayCastBR")
onready var BL = get_node("Rays/RayCastBL")

export var SuspensionDamping = 4
export var SuspensionStiffness = 4
export var SuspensionMaxForce = 250
export var SuspensionHeight = 0.85

var LastSusLength = [SuspensionHeight,SuspensionHeight,SuspensionHeight,SuspensionHeight]

var gdelta

func _physics_process(delta):
	gdelta = delta

func _integrate_forces(state):
	# Gravity Force
	add_force(Vector3(0.0,-9.8*self.mass,0.0), Vector3(0,0,0))
	
	var space_state = get_world().direct_space_state
	
	for i in range(4):
		var R
		if i == 0:
			R = FR
		elif i == 1:
			R = FL
		elif i == 2:
			R = BR
		elif i == 3:
			R = BL
		
		# Direction to shoot the ray, Suspension Orientation
		var dir = R.get_global_transform().basis.y
		# Position to shoot the ray, Spring location
		var pos = R.get_global_transform().origin
		var result = space_state.intersect_ray(pos, pos - dir*0.85)
		
		if result and gdelta != 0.0:
			
			# Suspension Offset
			var susoffs = result.position - pos
			# Suspension Length
			var length = susoffs.length()
			# Suspension Compression
			var suscomp = SuspensionHeight - length
			# Spring Force
			var sprforce = suscomp * SuspensionStiffness * self.mass
			# Shock Force
			var shkforce = ((length - LastSusLength[i]) / gdelta) * SuspensionDamping
			# Suspension Force
			var Fy = clamp(sprforce + shkforce, -SuspensionMaxForce, SuspensionMaxForce)
			
			add_force(Fy * dir, R.translation)
			
			LastSusLength[i] = length

I had to tweak the values and multiply the force by the vehicle mass, which is 1000

And here is the result:

At first it seems like it wants to work, but then it's almost like the four wheels are not being calculated in the same frame and de-synchronize from one another making the car wobble and go all over the place.

So, is there something i'm missing? Or maybe i need a whole different approach to this?

Can anyone shed some light on the subject?