// BMW F1 Suspension ////////////////////////////////////////////////////////////////////////// // // 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=(0.0) 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=(6.00) inertia=(0.0200,0.0185,0.0170) pos=(0.63,0.0,-1.65) ori=(0.0,0.0,0.0) [BODY] name=fr_spindle mass=(6.00) inertia=(0.0200,0.0185,0.0170) pos=(-0.63,0.0,-1.65) ori=(0.0,0.0,0.0) // Front wheels [BODY] name=fl_wheel mass=(17.10) inertia=(0.9270,0.6529,0.6529) pos=(0.707,0.0,-1.65) ori=(0.0,0.0,0.0) [BODY] name=fr_wheel mass=(17.10) inertia=(0.9270,0.6529,0.6529) pos=(-0.707,0.0,-1.65) ori=(0.0,0.0,0.0) // Rear spindles [BODY] name=rl_spindle mass=(6.50) inertia=(0.0205,0.0190,0.0175) pos=(0.635,0.0,1.395) ori=(0.0,0.0,0.0) [BODY] name=rr_spindle mass=(6.50) inertia=(0.0205,0.0190,0.0175) pos=(-0.635,0.0,1.395) ori=(0.0,0.0,0.0) // Rear wheels (includes half of rear-axle) [BODY] name=rl_wheel mass=(19.80) inertia=(1.1083,0.8029,0.8029) pos=(0.685,0.0,1.395) ori=(0.0,0.0,0.0) [BODY] name=rr_wheel mass=(19.80) inertia=(1.1083,0.8029,0.8029) pos=(-0.685,0.0,1.395) 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=(1.00) 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=(5.85) inertia=(0.032,0.024,0.028) 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=(-0.78,0.0,0.0) [JOINT&HINGE] posbody=fr_wheel negbody=fr_spindle pos=fr_wheel axis=( 0.78,0.0,0.0) // 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=(0.155,0.105,-1.66) neg=(0.602,0.105,-1.65) [BAR] // rearward upper arm posbody=body negbody=fl_spindle pos=(0.192,0.105,-1.14) neg=(0.602,0.105,-1.65) [BAR] // forward lower arm posbody=body negbody=fl_spindle pos=(0.000,-0.100,-1.66) neg=(0.616,-0.100,-1.65) [BAR] // rearward lower arm name=fl_fore_lower posbody=body negbody=fl_spindle pos=(0.192,-0.100,-1.140) neg=(0.616,-0.100,-1.65) [BAR] // steering arm (must be named for identification) name=fl_steering posbody=body negbody=fl_spindle pos=(0.152,0.105,-1.705) neg=(0.616,0.105,-1.750) // 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=(-0.155,0.105,-1.66) neg=(-0.602,0.105,-1.65) [BAR] // rearward upper arm posbody=body negbody=fr_spindle pos=(-0.192,0.105,-1.14) neg=(-0.602,0.105,-1.65) [BAR] // forward lower arm name=fr_fore_lower posbody=body negbody=fr_spindle pos=(-0.000,-0.100,-1.66) neg=(-0.616,-0.100,-1.65) [BAR] // rearward lower arm posbody=body negbody=fr_spindle pos=(-0.192,-0.100,-1.140) neg=(-0.616,-0.100,-1.65) [BAR] // steering arm (must be named for identification) name=fr_steering posbody=body negbody=fr_spindle pos=(-0.152,0.105,-1.705) neg=(-0.616,0.105,-1.750) // Rear left suspension (2 A-arms + 1 straight link = 5 links) // ----------------------------------------------------------- [BAR] // forward upper arm posbody=body negbody=rl_spindle pos=(0.180,0.100,1.015) neg=(0.650,0.150,1.395) [BAR] // rearward upper arm posbody=body negbody=rl_spindle pos=(0.050,0.080,1.395) neg=(0.650,0.150,1.395) [BAR] // forward lower arm posbody=body negbody=rl_spindle pos=(0.180,-0.050,0.915) neg=(0.660,-0.070,1.395) [BAR] // rearward lower arm posbody=body negbody=rl_spindle pos=(0.050,-0.050,1.395) neg=(0.660,-0.070,1.395) [BAR] // straight link posbody=body negbody=rl_spindle pos=(0.100,0.050,1.535) neg=(0.670,0.050,1.575) // Rear right suspension (2 A-arms + 1 straight link = 5 links) // ------------------------------------------------------------ [BAR] // forward upper arm posbody=body negbody=rr_spindle pos=(-0.180,0.100,1.015) neg=(-0.650,0.150,1.395) [BAR] // rearward upper arm posbody=body negbody=rr_spindle pos=(-0.050,0.080,1.395) neg=(-0.650,0.150,1.395) [BAR] // forward lower arm posbody=body negbody=rr_spindle pos=(-0.180,-0.050,.915) neg=(-0.660,-0.070,1.395) [BAR] // rearward lower arm posbody=body negbody=rr_spindle pos=(-0.050,-0.050,1.395) neg=(-0.660,-0.070,1.395) [BAR] // straight link posbody=body negbody=rr_spindle pos=(-0.100,0.050,1.535) neg=(-0.670,0.050,1.575) // Rear spindle and wheel connections [JOINT&HINGE] posbody=rl_wheel negbody=rl_spindle pos=rl_wheel axis=(-0.77,0.0,0.0) [JOINT&HINGE] posbody=rr_wheel negbody=rr_spindle pos=rr_wheel axis=( 0.77,0.0,0.0)