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Text File  |  2002-11-20  |  5.8 KB  |  150 lines
  1.  
  2. // Nascar Thunder Suspension File - Developed By Doug Arnao 07-06-02
  3. // Notes: I have adjusted the mass & inertias of the body, spindle wheels, rear axle to closer match a stock car.
  4. // Front Suspension Spec's:
  5. // Roll center height = 3.14" with lower arm parallel to the ground
  6. // There is -0.96 degree camber GAIN per 1" of bump travel
  7. // Roll center moves linearly (more or less) with bump travel - IE if the chassis moves down 1 inch the RC moves down 1 inch
  8. // With roll, the RC height doesn't move up or down any appreciable amount (1/8" max over 2 deg roll)
  9. // With roll, the RC moves to the left (while turning left) .43" (11mm) per degree of roll
  10. // For every degree of roll we LOSE +.64 deg of camber on the loaded side and GAIN -.69 on the onloaded side
  11.  
  12. //////////////////////////////////////////////////////////////////////////
  13. //
  14. // Conventions:
  15. //
  16. // +x = left
  17. // +z = rear
  18. // +y = up
  19. // +pitch = nose up
  20. // +yaw = nose right
  21. // +roll = top right
  22. //
  23. // [BODY]  - a rigid mass with mass and inertial properties
  24. // [JOINT] - a ball joint constraining an offset of one body to an
  25. //           offset of another body (eliminates 3 DOF)
  26. // [HINGE] - a constraint restricting the relative rotations of two
  27. //           bodies to be around a single axis (eliminates 2 DOF).
  28. // [BAR]   - a constraint holding an offset of one body from an offset of
  29. //           another body at a fixed distance (eliminates 1 DOF).
  30. // [JOINT&HINGE] - both the joint and hinge constraints, forming the
  31. //           conventional definition of a hinge (eliminates 5 DOF).
  32. //
  33. //////////////////////////////////////////////////////////////////////////
  34.  
  35. // Body including all rigidly attached parts (wings, barge boards, etc.)
  36. [BODY]
  37. name=body mass=(1211.36) inertia=(1960.05,2168.85,370.27)
  38. pos=(0.0,0.00,0.0) ori=(0.0,0.0,0.0)
  39.  
  40. // Front spindles
  41. [BODY]
  42. name=fl_spindle mass=(34.0) inertia=(0.132,0.121,0.110)
  43. pos=(0.688,0.0,-1.34) ori=(0.0,0.0,0.0)
  44.  
  45. [BODY]
  46. name=fr_spindle mass=(34.0) inertia=(0.132,0.121,0.110)
  47. pos=(-0.688,0.0,-1.34) ori=(0.0,0.0,0.0)
  48.  
  49. // Front wheels
  50. [BODY]
  51. name=fl_wheel mass=(27.0) inertia=(1.425,0.943,0.943)
  52. pos=(0.764,0.0,-1.34) ori=(0.0,0.0,0.0)
  53.  
  54. [BODY]
  55. name=fr_wheel mass=(27.0) inertia=(1.425,0.943,0.943)
  56. pos=(-0.764,0.0,-1.34) ori=(0.0,0.0,0.0)
  57.  
  58. // NASCAR stock car rear axle (this also contains the mass and inertia of the
  59. // I-beams or torque tube because they are rigidly attached).
  60. [BODY]
  61. name=rear_axle mass=(131.82) inertia=(3.073,3.073,1.317)
  62. pos=(0.0,-0.05,1.52) ori=(0.0,0.0,0.0)
  63.  
  64. // Rear wheels (includes half of rotating rear-axle)
  65. [BODY]
  66. name=rl_wheel mass=(36.36) inertia=(1.523,1.035,1.035)
  67. pos=(0.688,0.0,1.62) ori=(0.0,0.0,0.0)
  68.  
  69. [BODY]
  70. name=rr_wheel mass=(36.36) inertia=(1.523,1.035,1.035)
  71. pos=(-0.688,0.0,1.62) ori=(0.0,0.0,0.0)
  72.  
  73. // Fuel in tank is not rigidly attached - attached with springs and dampers to simulate movement
  74. [BODY]
  75. name=fuel_tank mass=(1.0) inertia=(1.0,1.0,1.0)
  76. pos=(0.0,0.00,1.92) ori=(0.0,0.0,0.0)
  77.  
  78.  
  79. //////////////////////////////////////////////////////////////////////////
  80. //
  81. // Constraints
  82. //
  83. //////////////////////////////////////////////////////////////////////////
  84.  
  85.  
  86. // Front wheel and spindle connections
  87. [JOINT&HINGE]
  88. posbody=fl_wheel negbody=fl_spindle pos=fl_wheel axis=(-1.0,0.0,0.0)
  89.  
  90. [JOINT&HINGE]
  91. posbody=fr_wheel negbody=fr_spindle pos=fr_wheel axis=(1.0,0.0,0.0)
  92.  
  93. // Front left suspension (2 A-arms + 1 steering arm = 5 links)
  94. [BAR] // forward upper arm
  95. name=fl_fore_upper posbody=body negbody=fl_spindle pos=(0.406,0.195,-1.390) neg=(0.584,0.230,-1.340)
  96.  
  97. [BAR] // rearward upper arm
  98. posbody=body negbody=fl_spindle pos=(0.406,0.180,-1.140) neg=(0.584,0.230,-1.340)
  99.  
  100. [BAR] // forward lower arm
  101. posbody=body negbody=fl_spindle pos=(0.304,-0.148,-1.340) neg=(0.610,-0.148,-1.340)
  102.  
  103. [BAR] // rearward lower arm
  104. name=fl_fore_lower posbody=body negbody=fl_spindle pos=(0.256,-0.130,-1.040) neg=(0.610,-0.148,-1.340)
  105.  
  106. [BAR] // steering arm (must be named for identification)
  107. name=fl_steering posbody=body negbody=fl_spindle pos=(0.328,-0.106,-1.467) neg=(0.584,-0.100,-1.492)
  108.  
  109. // Front right suspension (2 A-arms + 1 steering arm = 5 links)
  110. [BAR] // forward upper arm (used in steering lock calculation)
  111. name=fr_fore_upper posbody=body negbody=fr_spindle pos=(-0.406,0.195,-1.390) neg=(-0.584,0.230,-1.340)
  112.  
  113. [BAR] // rearward upper arm
  114. posbody=body negbody=fr_spindle pos=(-0.406,0.180,-1.140) neg=(-0.584,0.230,-1.340)
  115.  
  116. [BAR] // forward lower arm
  117. name=fr_fore_lower posbody=body negbody=fr_spindle pos=(-0.304,-0.148,-1.340) neg=(-0.610,-0.148,-1.340)
  118.  
  119. [BAR] // rearward lower arm
  120. posbody=body negbody=fr_spindle pos=(-0.256,-0.130,-1.040) neg=(-0.610,-0.148,-1.340)
  121.  
  122. [BAR] // steering arm (must be named for identification)
  123. name=fr_steering posbody=body negbody=fr_spindle pos=(-0.328,-0.106,-1.467) neg=(-0.584,-0.100,-1.492)
  124.  
  125. // NASCAR rear suspension geometry:
  126.  
  127. // We're doing a torque tube instead of the two I-beam arms of NASCAR.  They are
  128. // almost equivalent setups, with the only difference being which part bends.  Since
  129. // the current physics engine doesn't handle bending arms anyway, it doesn't matter.
  130. // We are simulating that aspect through the springs and allowing a full range of
  131. // motion where the torque tube meets the body by using a ball joint.
  132.  
  133. // The torque tube is connected to the body with a ball joint approximately 100 inches
  134. // in front of the rear axle.
  135. [JOINT]
  136. posbody=body negbody=rear_axle pos=(0.0, -0.07, -0.92)
  137.  
  138. // Track bar (heights will be changed with track bar adjustments)
  139. [BAR]
  140. posbody=body negbody=rear_axle pos=(-0.55, 0.0, 1.97) neg=(0.55, 0.0, 1.67)
  141.  
  142. // Rear spindle and wheel connections (axis will be changed with rear camber adjustments)
  143. [JOINT&HINGE]
  144. posbody=rl_wheel negbody=rear_axle pos=rl_wheel axis=(-1.0,0.0,0.0)
  145.  
  146. [JOINT&HINGE]
  147. posbody=rr_wheel negbody=rear_axle pos=rr_wheel axis=(1.0,0.0,0.0)
  148.  
  149.  
  150.