Raycast Car Physics

Hello Guys,

I created a racing game using normal physics (based on JCAR) However certain aspects of my game were not good due to Phisics, and would like to change for Raycast Physics (For examples I've seen is what I need), but do not know how to start, i'm do not know which aspects of the physics should be maintained, if Rigidbody will use, or what colliders . Does anyone have any examples or material that could help me, I read that there had been an example called Yoggi's, but could not find.

Can someone help me please Arthur