diff --git a/game-lib.js b/game-lib.js
index c29dfbb..399b1e0 100644
--- a/game-lib.js
+++ b/game-lib.js
@@ -1194,7 +1194,16 @@ GameLib.D3.Physics.RigidBody = function(
  * Physics Rigid Body Vehicle Superset
  * @constructor
  */
-GameLib.D3.Physics.Vehicle = function(
+GameLib.D3.Physics.RigidVehicle = function(
+) {
+    this.vehicleObject = null;
+};
+
+/**
+ * Physics Raycast Vehicle Superset
+ * @constructor
+ */
+GameLib.D3.Physics.RaycastVehicle = function(
 ) {
     this.vehicleObject = null;
 };
@@ -1212,9 +1221,10 @@ GameLib.D3.Physics.Shape = function(
     this.scale = new GameLib.D3.Vector3(1, 1, 1);
 };
 
-GameLib.D3.Physics.Shape.TYPE_SPHERE    = 1;
-GameLib.D3.Physics.Shape.TYPE_BOX       = 2;
-GameLib.D3.Physics.Shape.TYPE_TRIMESH   = 3;
+GameLib.D3.Physics.Shape.TYPE_SPHERE        = 1;
+GameLib.D3.Physics.Shape.TYPE_BOX           = 2;
+GameLib.D3.Physics.Shape.TYPE_TRIMESH       = 3;
+GameLib.D3.Physics.Shape.TYPE_CYLINDER      = 4;
 
 /**
  * Physics Convex Hull Shape Superset
@@ -2672,19 +2682,33 @@ GameLib.D3.Physics.Shape.prototype.Update = function(
 
 GameLib.D3.Physics.World.prototype.AddShape = function(
     shape, // d3.physics.shape
-    rigidBody
+    rigidBody,
+    offset, // vec3
+    orientation //quaternion
 ) {
     shape.shape = shape;
 
     if(this.engineType === GameLib.D3.Physics.Engine.TYPE_CANNON) {
-        rigidBody.bodyObject.addShape(shape.shapeObject);
+
+        var _offset = null;
+        var _orientation = null;
+
+        if(offset != null && typeof offset !== 'undefined') {
+            _offset = new CANNON.Vec3(offset.x, offset.y, offset.z);
+        }
+
+        if(orientation != null && typeof orientation !== 'undefined') {
+            _orientation = new CANNON.Quaternion(orientation.x, orientation.y, orientation.z, orientation.w);
+        }
+
+        rigidBody.bodyObject.addShape(shape.shapeObject, _offset, _orientation);
     }
 };
 
 GameLib.D3.Physics.World.prototype.CreateRigidVehicle = function(
     chassisBody // Physics.RigidBody
 ) {
-    var rigidVehicle = new GameLib.D3.Physics.Vehicle();
+    var rigidVehicle = new GameLib.D3.Physics.RigidVehicle();
 
     if(this.engineType == GameLib.D3.Physics.Engine.TYPE_CANNON) {
         var vehicle = new CANNON.RigidVehicle({
@@ -2695,7 +2719,20 @@ GameLib.D3.Physics.World.prototype.CreateRigidVehicle = function(
     }
 };
 
-GameLib.D3.Physics.World.prototype.AddWheel = function(
+GameLib.D3.Physics.World.prototype.CreateRaycastVehicle = function(
+    chassisBody // Physics.RigidBody
+) {
+    var raycastVehicle = new GameLib.D3.Physics.RaycastVehicle();
+    if(this.engineType == GameLib.D3.Physics.Engine.TYPE_CANNON) {
+        var vehicle = new CANNON.RaycastVehicle({
+            chassisBody: chassisBody.bodyObject
+        });
+        raycastVehicle.vehicleObject = vehicle;
+        return raycastVehicle;
+    }
+};
+
+GameLib.D3.Physics.World.prototype.AddWheelToRigidVehicle = function(
     vehicle,
     rigidBody,
     position,
@@ -2712,12 +2749,32 @@ GameLib.D3.Physics.World.prototype.AddWheel = function(
     }
 };
 
-GameLib.D3.Physics.Vehicle.prototype.GetWheelInfo = function(
+GameLib.D3.Physics.World.prototype.AddWheelToRaycastVehicle = function (
+    vehicle, // physics.raycastvehicle
+    options // cannon options
+) {
+    if (this.engineType == GameLib.D3.Physics.Engine.TYPE_CANNON) {
+        vehicle.vehicleObject.addWheel(options);
+    } else {
+        console.log("function for engine not implemented");
+    }
+};
+
+GameLib.D3.Physics.RigidVehicle.prototype.GetWheelInfo = function(
 
 ) {
+    // note: need a way to determine which engine we are currently using
     return this.vehicleObject.wheelBodies;
 };
 
+GameLib.D3.Physics.RaycastVehicle.prototype.GetWheelInfo = function(
+
+) {
+    // note: need a way to determine which engine we are currently using
+    return this.vehicleObject.wheelInfos;
+};
+
+
 GameLib.D3.Physics.World.prototype.CreateRigidBody = function(
     mass,
     friction,
@@ -2806,6 +2863,17 @@ GameLib.D3.Physics.World.prototype.CreateBoxShape = function(
     }
 };
 
+GameLib.D3.Physics.World.prototype.CreateCylinderShape = function(
+    radiusTop,
+    radiusBottom,
+    height,
+    numSegments
+) {
+    if(this.engineType == GameLib.D3.Physics.Engine.TYPE_CANNON) {
+        return new GameLib.D3.Physics.Shape(new CANNON.Cylinder(radiusTop, radiusBottom, height, numSegments), GameLib.D3.Physics.Shape.TYPE_CYLINDER);
+    }
+};
+
 GameLib.D3.Physics.World.prototype.AddRigidBody = function(
     rigidBody   // Physics.RigidBody
 ) {
@@ -2815,7 +2883,7 @@ GameLib.D3.Physics.World.prototype.AddRigidBody = function(
 };
 
 GameLib.D3.Physics.World.prototype.AddVehicle = function(
-    vehicle // note: this is the cannon vehicle...
+    vehicle // note: physics.vehicle
 ) {
     if(this.engineType == GameLib.D3.Physics.Engine.TYPE_CANNON) {
         vehicle.vehicleObject.addToWorld(this.worldObject);