//1LeSvT Zero Scrub - Low Ackerman




// Body including all rigidly attached parts (wings, barge boards, etc.)
[BODY]
Name=body Mass=(0) Inertia=(0,0,0)
Pos=(0,0,0) Ori=(0,0,0)

// Front spindles
[BODY]
Name=fl_spindle Mass=(12.0) Inertia=(0.0315,0.0300,0.0500)
Pos=( 0.70, -0.0,-1.300) Ori=(0,0,0)

[BODY]
Name=fr_spindle Mass=(12.0) Inertia=(0.0315,0.0300,0.0500)
Pos=(-0.70, -0.0,-1.300) Ori=(0,0,0)

// Front wheels
[BODY]
Name=fl_wheel Mass=(22.5) Inertia=(1.550,0.950,0.950)
Pos=( 0.757, -0.0,-1.300) Ori=(0,0,0)

[BODY]
Name=fr_wheel Mass=(22.5) Inertia=(1.550,0.950,0.950)
Pos=(-0.757, -0.0,-1.300) Ori=(0,0,0)

// Rear spindles
[BODY]
Name=rl_spindle Mass=(13.0) inertia=(0.0335,0.0320,0.0530)
Pos=( 0.70,0.00,1.390) Ori=(0,0,0)

[BODY]
Name=rr_spindle Mass=(13.0) inertia=(0.0335,0.0320,0.0530)
Pos=(-0.70,0.00,1.390) Ori=(0,0,0)

// Rear wheels (includes half of rear-axle)
[BODY]
Name=rl_wheel Mass=(26.0) Inertia=(1.720,1.050,1.050)
Pos=( 0.734,0.00,1.390) Ori=(0.0,0.0,0.0)

[BODY]
Name=rr_wheel Mass=(26.0) Inertia=(1.720,1.050,1.050)
Pos=(-0.734,0.00,1.390) 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=(1.5) Inertia=(1,1,1)
Pos=(0,0,0) Ori=(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=(6.20) Inertia=(0.035,0.025,0.030)
Pos=(0,0,0) Ori=(0,0,0)


//////////////////////////////////////////////////////////////////////////
//
// Constraints
//
//////////////////////////////////////////////////////////////////////////

// Front wheel and spindle connections
[JOINT&HINGE]
Posbody=fl_wheel Negbody=fl_spindle Pos=fl_wheel Axis=( 0.757,0,0)

[JOINT&HINGE]
Posbody=fr_wheel Negbody=fr_spindle Pos=fr_wheel Axis=(-0.757,0,0)

// Front left suspension (2 A-arms + 1 steering arm = 5 links)
[BAR] // forward upper arm
Name=fl_fore_upper Posbody=body Negbody=fl_spindle Pos=(0.344,0.078,-1.49) Neg=(0.65,0.090,-1.3)

[BAR] // rearward upper arm
Posbody=body Negbody=fl_spindle Pos=(0.344,0.077,-1.2) Neg=(0.65,0.090,-1.3)

[BAR] // forward lower arm
Posbody=body Negbody=fl_spindle Pos=(0.295,-0.142,-1.53) Neg=(0.70,-0.145,-1.30)

[BAR] // rearward lower arm
Name=fl_fore_lower Posbody=body Negbody=fl_spindle Pos=(0.295,-0.142,-1.2) Neg=(0.700,-0.145,-1.30)

[BAR] // steering arm (must be named for identification)
Name=fl_steering Posbody=body Negbody=fl_spindle Pos=(0.295,0.080,-1.180) Neg=(0.700,0.080,-1.180)

// Front right suspension (2 A-arms + 1 steering arm = 5 links)

[BAR] // forward upper arm (used in steering lock calculation)
Name=fr_fore_upper Posbody=body Negbody=fr_spindle PPos=(-0.344,0.078,-1.49) Neg=(-0.65,0.090,-1.3)

[BAR] // rearward upper arm
Posbody=body Negbody=fr_spindle Pos=(-0.344,0.077,-1.2) Neg=(-0.65,0.090,-1.3)

[BAR] // forward lower arm
Name=fr_fore_lower Posbody=body Negbody=fr_spindle Pos=(-0.295,-0.142,-1.53) Neg=(-0.70,-0.145,-1.30)

[BAR] // rearward lower arm
Posbody=body Negbody=fr_spindle Pos=(-0.295,-0.142,-1.2) Neg=(-0.700,-0.145,-1.30)

[BAR] // steering arm (must be named for identification)
Name=fr_steering Posbody=body Negbody=fr_spindle Pos=(-0.295,0.080,-1.180) Neg=(-0.700,0.080,-1.180)


///////////// TEMP-placeholder rear suspension. Do not have enough pic's/information to tu// Rear left suspension (2 A-arms + 1 straight link = 5 links)

[BAR] // forward upper arm
posbody=body negbody=rl_spindle pos=(0.588,0.190,0.200) neg=(0.602,0.160,1.390)

[BAR] // rearward upper arm
posbody=body negbody=rl_spindle pos=(0.395,0.190,1.39) neg=(0.602,0.160,1.390)

[BAR] // forward lower arm
posbody=body negbody=rl_spindle pos=(0.588,-0.105,0.200) neg=(0.602,-0.166,1.390)

[BAR] // rearward lower arm
posbody=body negbody=rl_spindle pos=(0.383,-0.152,1.390) neg=(0.602,-0.166,1.390)

[BAR] // straight link
posbody=body negbody=rl_spindle pos=(0.35,0.190,1.20) neg=(0.595,0.166,1.2)

// Rear right suspension (2 A-arms + 1 straight link = 5 links)

[BAR] // forward upper arm
posbody=body negbody=rr_spindle pos=(-0.588,0.190,0.200) neg=(-0.602,0.160,1.390)

[BAR] // rearward upper arm
posbody=body negbody=rr_spindle pos=(-0.395,0.190,1.39) neg=(-0.602,0.160,1.390)

[BAR] // forward lower arm
posbody=body negbody=rr_spindle pos=(-0.588,-0.105,0.200) neg=(-0.602,-0.166,1.390)

[BAR] // rearward lower arm
posbody=body negbody=rr_spindle pos=(-0.383,-0.152,1.390) neg=(-0.602,-0.166,1.390)

[BAR] // straight link
posbody=body negbody=rr_spindle pos=(-0.35,0.190,1.20) neg=(-0.595,0.166,1.2)

// Rear spindle and wheel connections
[JOINT&HINGE]
posbody=rl_wheel negbody=rl_spindle pos=rl_wheel axis=( 0.734,0.0,0.0)

[JOINT&HINGE]
posbody=rr_wheel negbody=rr_spindle pos=rr_wheel axis=(-0.734,0.0,0.0)
