I'm looking to add a btRaycastVehicle to my world, where x is forward, y is left, and z is up. The parameters for btRaycastvehicle::setCoordinateSystem are undocumented, so I don't know how to specify this coordinate system. Additionally, I found this thread from 5 years ago describing some inherent limitations that bullet has with respect to vehicle coordinates.
Have these problems been addressed in the current version of bullet? How to I specify an x-forward system with setCoordinateSystem?