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Text File  |  2002-04-22  |  5.3 KB  |  153 lines
  1.  
  2. //////////////////////////////////////////////////////////////////////////
  3. //
  4. // Conventions:
  5. //
  6. // +x = left
  7. // +z = rear
  8. // +y = up
  9. // +pitch = nose up
  10. // +yaw = nose right
  11. // +roll = right
  12. //
  13. // [BODY]  - a rigid mass with mass and inertial properties
  14. // [JOINT] - a ball joint constraining an offset of one body to an
  15. //           offset of another body (eliminates 3 DOF)
  16. // [HINGE] - a constraint restricting the relative rotations of two
  17. //           bodies to be around a single axis (eliminates 2 DOF).
  18. // [BAR]   - a constraint holding an offset of one body from an offset of
  19. //           another body at a fixed distance (eliminates 1 DOF).
  20. // [JOINT&HINGE] - both the joint and hinge constraints, forming the
  21. //           conventional definition of a hinge (eliminates 5 DOF).
  22. //
  23. //////////////////////////////////////////////////////////////////////////
  24.  
  25. // Body including all rigidly attached parts (wings, barge boards, etc.)
  26. [BODY]
  27. name=body mass=(522.0) inertia=(388.0,423.0,25.0)
  28. pos=(0.0,0.0,0.0) ori=(0.0,0.0,0.0)
  29.  
  30. // Front spindles
  31. [BODY]
  32. name=fl_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
  33. pos=(0.67,0.0,-1.65) ori=(0.0,0.0,0.0)
  34.  
  35. [BODY]
  36. name=fr_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
  37. pos=(-0.67,0.0,-1.65) ori=(0.0,0.0,0.0)
  38.  
  39. // Front wheels
  40. [BODY]
  41. name=fl_wheel mass=(15.0) inertia=(0.792,0.524,0.524)
  42. pos=(0.7177,0.0,-1.65) ori=(0.0,0.0,0.0)
  43.  
  44. [BODY]
  45. name=fr_wheel mass=(15.0) inertia=(0.792,0.524,0.524)
  46. pos=(-0.7177,0.0,-1.65) ori=(0.0,0.0,0.0)
  47.  
  48. // Rear spindles
  49. [BODY]
  50. name=rl_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
  51. pos=(0.64,0.0,1.35) ori=(0.0,0.0,0.0)
  52.  
  53. [BODY]
  54. name=rr_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
  55. pos=(-0.64,0.0,1.35) ori=(0.0,0.0,0.0)
  56.  
  57. // Rear wheels (includes half of rear-axle)
  58. [BODY]
  59. name=rl_wheel mass=(16.0) inertia=(0.846,0.575,0.575)
  60. pos=(0.7025,0.0,1.35) ori=(0.0,0.0,0.0)
  61.  
  62. [BODY]
  63. name=rr_wheel mass=(16.0) inertia=(0.846,0.575,0.575)
  64. pos=(-0.7025,0.0,1.35) ori=(0.0,0.0,0.0)
  65.  
  66.  
  67. //////////////////////////////////////////////////////////////////////////
  68. //
  69. // Constraints
  70. //
  71. //////////////////////////////////////////////////////////////////////////
  72.  
  73. // Front wheel and spindle connections
  74. [JOINT&HINGE]
  75. posbody=fl_wheel negbody=fl_spindle pos=fl_wheel axis=(-1.0,0.0,0.0)
  76.  
  77. [JOINT&HINGE]
  78. posbody=fr_wheel negbody=fr_spindle pos=fr_wheel axis=(1.0,0.0,0.0)
  79.  
  80. // Front left suspension (2 A-arms + 1 steering arm = 5 links)
  81. [BAR] // forward upper arm
  82. name=fl_fore_upper posbody=body negbody=fl_spindle pos=(0.157,0.103,-1.65) neg=(0.657,0.113,-1.635)
  83.  
  84. [BAR] // rearward upper arm
  85. posbody=body negbody=fl_spindle pos=(0.157,0.103,-1.45) neg=(0.6575,0.113,-1.635)
  86.  
  87. [BAR] // forward lower arm
  88. posbody=body negbody=fl_spindle pos=(0.00,-0.113,-1.65) neg=(0.667,-0.113,-1.65)
  89.  
  90. [BAR] // rearward lower arm
  91. name=fl_fore_lower posbody=body negbody=fl_spindle pos=(0.00,-0.113,-1.425) neg=(0.667,-0.113,-1.65)
  92.  
  93. [BAR] // steering arm (must be named for identification)
  94. name=fl_steering posbody=body negbody=fl_spindle pos=(0.155,0.113,-1.725) neg=(0.667,0.113,-1.735)
  95.  
  96. // Front right suspension (2 A-arms + 1 steering arm = 5 links)
  97. [BAR] // forward upper arm (used in steering lock calculation)
  98. name=fr_fore_upper posbody=body negbody=fr_spindle pos=(-0.157,0.103,-1.65) neg=(-0.657,0.113,-1.635)
  99.  
  100. [BAR] // rearward upper arm
  101. posbody=body negbody=fr_spindle pos=(-0.157,0.103,-1.45) neg=(-0.6575,0.113,-1.635)
  102.  
  103. [BAR] // forward lower arm
  104. name=fr_fore_lower posbody=body negbody=fr_spindle pos=(-0.00,-0.113,-1.65) neg=(-0.667,-0.113,-1.65)
  105.  
  106. [BAR] // rearward lower arm
  107. posbody=body negbody=fr_spindle pos=(-0.00,-0.113,-1.425) neg=(-0.667,-0.113,-1.65)
  108.  
  109. [BAR] // steering arm (must be named for identification)
  110. name=fr_steering posbody=body negbody=fr_spindle pos=(-0.155,0.113,-1.725) neg=(-0.667,0.113,-1.735)
  111.  
  112. // Rear left suspension (2 A-arms + 1 straight link = 5 links)
  113. [BAR] // forward upper arm
  114. posbody=body negbody=rl_spindle pos=(0.109,0.11,1.05) neg=(0.615,0.12,1.35)
  115.  
  116. [BAR] // rearward upper arm
  117. posbody=body negbody=rl_spindle pos=(0.109,0.11,1.40) neg=(0.615,0.12,1.35)
  118.  
  119. [BAR] // forward lower arm
  120. posbody=body negbody=rl_spindle pos=(0.079,-0.06,1.05) neg=(0.615,-0.08,1.35)
  121.  
  122. [BAR] // rearward lower arm
  123. posbody=body negbody=rl_spindle pos=(0.079,-0.08,1.40) neg=(0.615,-0.08,1.35)
  124.  
  125. [BAR] // straight link
  126. posbody=body negbody=rl_spindle pos=(0.089,0.02,1.52) neg=(0.615,0.02,1.52)
  127.  
  128. // Rear right suspension (2 A-arms + 1 straight link = 5 links)
  129. [BAR] // forward upper arm
  130. posbody=body negbody=rr_spindle pos=(-0.109,0.11,1.05) neg=(-0.615,0.12,1.35)
  131.  
  132. [BAR] // rearward upper arm
  133. posbody=body negbody=rr_spindle pos=(-0.109,0.11,1.40) neg=(-0.615,0.12,1.35)
  134.  
  135. [BAR] // forward lower arm
  136. posbody=body negbody=rr_spindle pos=(-0.079,-0.06,1.05) neg=(-0.615,-0.08,1.35)
  137.  
  138. [BAR] // rearward lower arm
  139. posbody=body negbody=rr_spindle pos=(-0.079,-0.08,1.40) neg=(-0.615,-0.08,1.35)
  140.  
  141. [BAR] // straight link
  142. posbody=body negbody=rr_spindle pos=(-0.089,0.02,1.52) neg=(-0.615,0.02,1.52)
  143.  
  144. // Rear spindle and wheel connections
  145. [JOINT&HINGE]
  146. posbody=rl_wheel negbody=rl_spindle pos=rl_wheel axis=(-1.0,0.0,0.0)
  147.  
  148. [JOINT&HINGE]
  149. posbody=rr_wheel negbody=rr_spindle pos=rr_wheel axis=(1.0,0.0,0.0)
  150.  
  151. // Special Thanks to Doug Arnao for this vastly improved and more realistic geometry!!!
  152.  
  153.