// Panoz Esperante Suspension Geometry
//////////////////////////////////////////////////////////////////////////
//
// Conventions:
//
// +x = left
// +z = rear
// +y = up
// +pitch = nose up
// +yaw = nose right
// +roll = right
//
// [BODY]  - a rigid mass with mass and inertial properties
// [JOINT] - a ball joint constraining an offset of one body to an
//           offset of another body (eliminates 3 DOF)
// [HINGE] - a constraint restricting the relative rotations of two
//           bodies to be around a single axis (eliminates 2 DOF).
// [BAR]   - a constraint holding an offset of one body from an offset of
//           another body at a fixed distance (eliminates 1 DOF).
// [JOINT&HINGE] - both the joint and hinge constraints, forming the
//           conventional definition of a hinge (eliminates 5 DOF).
//
//////////////////////////////////////////////////////////////////////////

// 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=(16.5) inertia=(0.0400,0.0385,0.0370)
pos=(0.695,0.0,-1.65) ori=(0.0,0.0,0.0)

[BODY]
name=fr_spindle mass=(16.5) inertia=(0.0400,0.0385,0.0370)
pos=(-0.695,0.0,-1.65) ori=(0.0,0.0,0.0)

// Front wheels
[BODY]
name=fl_wheel mass=(24.5) inertia=(2.100,1.100,1.100)
pos=(0.730,0.0,-1.65) ori=(0.0,0.0,0.0)

[BODY]
name=fr_wheel mass=(24.5) inertia=(2.100,1.100,1.100)
pos=(-0.730,0.0,-1.65) ori=(0.0,0.0,0.0)

// Rear spindles
[BODY]
name=rl_spindle mass=(17.5) inertia=(0.0450,0.0435,0.0420)
pos=( 0.690,0.0,1.35) ori=(0.0,0.0,0.0)

[BODY]
name=rr_spindle mass=(17.5) inertia=(0.0450,0.0435,0.0420)
pos=(-0.690,0.0,1.35) ori=(0.0,0.0,0.0)

// Rear wheels
[BODY]
name=rl_wheel mass=(26.0) inertia=(2.200,1.140,1.140)
pos=( 0.720,0.0,1.35) ori=(0.0,0.0,0.0)

[BODY]
name=rr_wheel mass=(26.0) inertia=(2.200,1.140,1.140)
pos=(-0.720,0.0,1.35) 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=(1.0,1.0,1.0)
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=(6.20) inertia=(0.035,0.025,0.030)
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=( 0.75,0.0,0.0)

[JOINT&HINGE]
posbody=fr_wheel negbody=fr_spindle pos=fr_wheel axis=(-0.75,0.0,0.0)


// 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=(0.447,0.141,-1.700) neg=(0.645,0.154,-1.633)

[BAR] // rearward upper arm
posbody=body negbody=fl_spindle pos=(0.447,0.141,-1.494) neg=(0.645,0.154,-1.633)

[BAR] // forward lower arm
posbody=body negbody=fl_spindle pos=(0.400,-0.094,-1.720) neg=(0.703,-0.089,-1.658)

[BAR] // rearward lower arm
name=fl_fore_lower posbody=body negbody=fl_spindle pos=(0.400,-0.094,-1.425) neg=(0.703,-0.089,-1.658)

[BAR] // steering arm (must be named for identification)
name=fl_steering posbody=body negbody=fl_spindle pos=(0.324,-0.066,-1.780) neg=(0.725,-0.063,-1.780)


// 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 pos=(-0.447,0.141,-1.700) neg=(-0.645,0.154,-1.633)

[BAR] // rearward upper arm
posbody=body negbody=fr_spindle pos=(-0.447,0.141,-1.494) neg=(-0.645,0.154,-1.633)

[BAR] // forward lower arm
name=fr_fore_lower posbody=body negbody=fr_spindle pos=(-0.400,-0.094,-1.720) neg=(-0.703,-0.089,-1.658)

[BAR] // rearward lower arm
posbody=body negbody=fr_spindle pos=(-0.400,-0.094,-1.425) neg=(-0.703,-0.089,-1.658)

[BAR] // steering arm (must be named for identification)
name=fr_steering posbody=body negbody=fr_spindle pos=(-0.324,-0.066,-1.780) neg=(-0.725,-0.063,-1.780)


// Rear left suspension (2 A-arms + 1 straight link = 5 links)
[BAR] // forward upper arm
posbody=body negbody=rl_spindle pos=(0.450,0.125,1.25) neg=(0.615,0.132,1.35)

[BAR] // rearward upper arm
posbody=body negbody=rl_spindle pos=(0.450,0.125,1.50) neg=(0.615,0.132,1.35)

[BAR] // forward lower arm
posbody=body negbody=rl_spindle pos=(0.280,-0.10,1.25) neg=(0.635,-0.11,1.35)

[BAR] // rearward lower arm
posbody=body negbody=rl_spindle pos=(0.280,-0.10,1.50) neg=(0.635,-0.11,1.35)

[BAR] // straight link
posbody=body negbody=rl_spindle pos=(0.350,-0.005,1.52) neg=(0.635,-0.00,1.52)


// Rear right suspension (2 A-arms + 1 straight link = 5 links)
[BAR] // forward upper arm
posbody=body negbody=rr_spindle pos=(-0.450,0.125,1.25) neg=(-0.615,0.132,1.35)

[BAR] // rearward upper arm
posbody=body negbody=rr_spindle pos=(-0.450,0.125,1.50) neg=(-0.615,0.132,1.35)

[BAR] // forward lower arm
posbody=body negbody=rr_spindle pos=(-0.280,-0.10,1.25) neg=(-0.635,-0.11,1.35)

[BAR] // rearward lower arm
posbody=body negbody=rr_spindle pos=(-0.280,-0.10,1.50) neg=(-0.635,-0.11,1.35)

[BAR] // straight link
posbody=body negbody=rr_spindle pos=(-0.350,-0.005,1.52) neg=(-0.635,-0.00,1.52)

// Rear spindle and wheel connections
[JOINT&HINGE]
posbody=rl_wheel negbody=rl_spindle pos=rl_wheel axis=( 0.75,0.0,0.0)

[JOINT&HINGE]
posbody=rr_wheel negbody=rr_spindle pos=rr_wheel axis=(-0.75,0.0,0.0)