KJS 16/11/2011 // MC 01/12/2011

// Body including all rigidly attached parts (wings, barge boards, etc.)
[BODY]
name=body mass=(0.0) inertia=(0.0,0.0,0.0)
pos=(0.0,0.0,0.0) ori=(0.0,0.0,0.0)

// Front spindles
[BODY]
name=fl_spindle mass=(2.5) inertia=(0.0275,0.0260,0.0245)
pos=(0.345,-0.05,-0.49) ori=(0.0,0.0,0.0)

[BODY]
name=fr_spindle mass=(2.5) inertia=(0.0275,0.0260,0.0245)
pos=(-0.345,-0.05,-0.49) ori=(0.0,0.0,0.0)

// Front wheels
[BODY]
name=fl_wheel mass=(8.0) inertia=(0.950,0.600,0.600)
pos=(0.545,0.0,-0.5) ori=(0.0,0.0,0.0)

[BODY]
name=fr_wheel mass=(8.0) inertia=(0.950,0.600,0.600)
pos=(-0.545,0.0,-0.5) ori=(0.0,0.0,0.0)

// Rear spindles
[BODY]
name=rl_spindle mass=(2.5) inertia=(0.0275,0.0260,0.0245)
pos=(0.65,0.0,0.545) ori=(0.0,0.0,0.0)

[BODY]
name=rr_spindle mass=(2.5) inertia=(0.0275,0.0260,0.0245)
pos=(-0.65,0.0,0.545) ori=(0.0,0.0,0.0)

// Rear wheels (includes half of rear-axle)
[BODY]
name=rl_wheel mass=(8.0) inertia=(0.950,0.600,0.600)
pos=(0.65,0.0,0.545) ori=(0.0,0.0,0.0)

[BODY]
name=rr_wheel mass=(8.0) inertia=(0.950,0.600,0.600)
pos=(-0.65,0.0,0.545) ori=(0.0,0.0,0.0)


// Fuel in tank is not rigidly attached - it is attached with springs and
// dampers to simulate movement.  Properties are defined in the HDV file.
[BODY]
name=fuel_tank mass=(1.0) inertia=(1.0,1.0,1.0)
pos=(0.0,0.0,0.0) ori=(0.0,0.0,0.0)

// Driver's head is not rigidly attached, and it does NOT affect the vehicle
// physics.  Position is from the eyepoint defined in the VEH file, while
// other properties are defined in the head physics file.
[BODY]
name=driver_head mass=(5.0) inertia=(0.02,0.02,0.02)
pos=(0.0,0.0,0.0) ori=(0.0,0.0,0.0)

//////////////////////////////////////////////////////////////////////////
//
// Constraints
//
//////////////////////////////////////////////////////////////////////////

// Front wheel and spindle connections
[JOINT&HINGE]
posbody=fl_wheel negbody=fl_spindle pos=fl_wheel axis=(-1.0,0.0,0.0)

[JOINT&HINGE]
posbody=fr_wheel negbody=fr_spindle pos=fr_wheel axis=(1.0,0.0,0.0)



//Front-Left
[BAR]
name=fl_fore_upper posbody=body negbody=fl_spindle pos=(0.1245, 0.095, -0.34) neg=(0.335, 0.06, -0.49)

[BAR]
posbody=body negbody=fl_spindle pos=(0.1245, 0.095, -0.49) neg=(0.335, 0.060, -0.49)

[BAR]
posbody=body negbody=fl_spindle pos=(0.005, -0.055, -0.49) neg=(0.335, -0.05, -0.491)

[BAR]
name=fl_fore_lower posbody=body negbody=fl_spindle pos=(0.005, -0.055, -0.29) neg=(0.335, -0.05, -0.491)

//Front-Right
[BAR]
name=fr_fore_upper posbody=body negbody=fr_spindle pos=(-0.12450, 0.095, -0.34) neg=(-0.335, 0.060, -0.49)

[BAR]
posbody=body negbody=fr_spindle pos=(-0.1245, 0.095, -0.49) neg=(-0.335, 0.060, -0.49)

[BAR]
posbody=body negbody=fr_spindle pos=(-0.005, -0.055, -0.49) neg=(-0.335, -0.05, -0.491)

[BAR]
name=fr_fore_lower posbody=body negbody=fr_spindle pos=(-0.005, -0.055, -0.29) neg=(-0.335, -0.05, -0.491)


//Front-Left steering
[BAR]
name=fl_steering posbody=body negbody=fl_spindle pos=(0.06, -0.015, -0.36) neg=(0.3, 0.020, -0.36)

//Front-Right steering 
[BAR]
name=fr_steering posbody=body negbody=fr_spindle pos=(-0.06, -0.015, -0.36) neg=(-0.3, 0.020, -0.36)

 

// Rear left suspension (2 A-arms + 1 straight link = 5 links)
[BAR] // rearward upper arm
posbody=body negbody=rl_spindle 
pos=(0.150,0.083,0.545) neg=(0.65,0.063,0.545)

[BAR] // forward upper arm
posbody=body negbody=rl_spindle 
pos=(0.150,0.083,0.30) neg=(0.65,0.063,0.5450)

[BAR] // rearward lower arm
posbody=body negbody=rl_spindle 
pos=(0.06,-0.055,0.5450) neg=(0.65,-0.055,0.5450)

[BAR] // forward lower arm
posbody=body negbody=rl_spindle 
pos=(0.06,-0.055,0.250) neg=(0.65,-0.055,0.5450)


// Rear right suspension (2 A-arms + 1 straight link = 5 links)
[BAR] // rearward upper arm
posbody=body negbody=rr_spindle 
pos=(-0.150,0.083,0.5450) neg=(-0.65,0.063,0.5450)

[BAR] // forward upper arm
posbody=body negbody=rr_spindle 
pos=(-0.150,0.083,0.30) neg=(-0.65,0.063,0.5450)

[BAR] // rearward lower arm
posbody=body negbody=rr_spindle 
pos=(-0.06,-0.055,0.5450) neg=(-0.65,-0.055,0.5450)

[BAR] // forward lower arm 
posbody=body negbody=rr_spindle 
pos=(-0.06,-0.055,0.250) neg=(-0.65,-0.055,0.5450)

//Rear connection
[BAR] // straight link
posbody=body negbody=rl_spindle 
pos=(0.15,0.083,0.5450) neg=(0.65,0.06,0.6450)

[BAR] // straight link
posbody=body negbody=rr_spindle 
pos=(-0.150,0.083,0.5450) neg=(-0.65,0.06,0.6450)

// Rear spindle and wheel connections
[JOINT&HINGE]
posbody=rl_wheel negbody=rl_spindle pos=rl_wheel axis=(-1.0,0.0,0.0)

[JOINT&HINGE]
posbody=rr_wheel negbody=rr_spindle pos=rr_wheel axis=(1.0,0.0,0.0)


