Function update_vehicle_controllers 

pub fn update_vehicle_controllers(
    context_access: Query<'_, '_, (&RapierContextSimulation, &mut RapierContextColliders, &mut RapierRigidBodySet, &RapierConfiguration)>,
    vehicles: Query<'_, '_, (&RapierContextEntityLink, &RapierRigidBodyHandle, &mut RayCastVehicleController)>,
    ignored: Query<'_, '_, Entity, With<ControllerIgnored>>,
)

System responsible for updating the RayCastVehicleControllers before the simulation step, and writing back their wheels’ state.