// Audi R10 - GTR2 Version
// @Jpbs - Juillet 2007 - http://team.motorsport.phpnet.org
//------------------------------------------------------------------------------------
// Body including all rigidly attached parts (wings, barge boards, etc.)
[BODY]
name=body mass=(1005.0) inertia=(974.7, 1001.2, 181.4)   //    925 (680.9,741.4,161.8)
pos=(0.0,0.00,0.0) ori=(0.0,0.0,0.0)


// Front spindles
[BODY]
name=fl_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
pos=(0.813,0.0,-1.456) ori=(0.0,0.0,0.0)

[BODY]
name=fr_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
pos=(-0.813,0.0,-1.456) ori=(0.0,0.0,0.0)

// Front wheels
[BODY]
name=fl_wheel mass=(15.0) inertia=(0.792,0.524,0.524)
pos=(0.844,0.0,-1.456) ori=(0.0,0.0,0.0)

[BODY]
name=fr_wheel mass=(15.0) inertia=(0.792,0.524,0.524)
pos=(-0.844,0.0,-1.456) ori=(0.0,0.0,0.0)

// Rear spindles
[BODY]
name=rl_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
pos=(0.824,0.0,1.331) ori=(0.0,0.0,0.0)

[BODY]
name=rr_spindle mass=(4.5) inertia=(0.0175,0.0160,0.0145)
pos=(-0.824,0.0,1.331) ori=(0.0,0.0,0.0)

// Rear wheels (includes half of rear-axle)
[BODY]
name=rl_wheel mass=(16.0) inertia=(0.846,0.575,0.575)
pos=(0.848,0.0,1.331) ori=(0.0,0.0,0.0)

[BODY]
name=rr_wheel mass=(16.0) inertia=(0.846,0.575,0.575)
pos=(-0.848,0.0,1.331) 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=(1.0) 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=(5.0) inertia=(0.02,0.02,0.02)
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=(-1.0,0.0,0.0)

[JOINT&HINGE]
posbody=fr_wheel negbody=fr_spindle pos=fr_wheel axis=(1.0,0.0,0.0)

// 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=(0.317,0.103,-1.510) neg=(0.810,0.113,-1.456)

[BAR] // rearward upper arm
posbody=body negbody=fl_spindle pos=(0.317,0.103,-1.13) neg=(0.810,0.113,-1.456)

[BAR] // forward lower arm
posbody=body negbody=fl_spindle pos=(0.290,-0.113,-1.510) neg=(0.810,-0.113,-1.456)

[BAR] // rearward lower arm
name=fl_fore_lower posbody=body negbody=fl_spindle pos=(0.290,-0.113,-1.09) neg=(0.810,-0.113,-1.456)

[BAR] // steering arm (must be named for identification)
name=fl_steering posbody=body negbody=fl_spindle pos=(0.290,0.0,-1.625) neg=(0.810,0.0,-1.585)

// 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=(-0.317,0.103,-1.510) neg=(-0.810,0.113,-1.456)

[BAR] // rearward upper arm
posbody=body negbody=fr_spindle pos=(-0.317,0.103,-1.13) neg=(-0.810,0.113,-1.456)

[BAR] // forward lower arm
name=fr_fore_lower posbody=body negbody=fr_spindle pos=(-0.290,-0.113,-1.510) neg=(-0.810,-0.113,-1.456)

[BAR] // rearward lower arm
posbody=body negbody=fr_spindle pos=(-0.290,-0.113,-1.09) neg=(-0.810,-0.113,-1.456)

[BAR] // steering arm (must be named for identification)
name=fr_steering posbody=body negbody=fr_spindle pos=(-0.290,0.0,-1.625) neg=(-0.810,0.0,-1.585)

// Rear left suspension (2 A-arms + 1 straight link = 5 links)
[BAR] // forward upper arm
posbody=body negbody=rl_spindle pos=(0.259,0.13,0.801) neg=(0.810,0.13,1.331)

[BAR] // rearward upper arm
posbody=body negbody=rl_spindle pos=(0.259,0.13,1.410) neg=(0.810,0.13,1.331)

[BAR] // forward lower arm
posbody=body negbody=rl_spindle pos=(0.239,-0.13,0.801) neg=(0.810,-0.13,1.331)

[BAR] // rearward lower arm
posbody=body negbody=rl_spindle pos=(0.239,-0.13,1.410) neg=(0.810,-0.13,1.331)

[BAR] // straight link
posbody=body negbody=rl_spindle pos=(0.259,0.02,1.48) neg=(0.700,0.02,1.48)

// Rear right suspension (2 A-arms + 1 straight link = 5 links)
[BAR] // forward upper arm
posbody=body negbody=rr_spindle pos=(-0.259,0.13 ,0.801) neg=(-0.810,0.13,1.331)

[BAR] // rearward upper arm
posbody=body negbody=rr_spindle pos=(-0.259,0.13,1.410) neg=(-0.810,0.13,1.331)

[BAR] // forward lower arm
posbody=body negbody=rr_spindle pos=(-0.239,-0.13,0.801) neg=(-0.810,-0.13,1.331)

[BAR] // rearward lower arm
posbody=body negbody=rr_spindle pos=(-0.239,-0.13,1.410) neg=(-0.810,-0.13,1.331)

[BAR] // straight link
posbody=body negbody=rr_spindle pos=(-0.259,0.02,1.48) neg=(-0.700,0.02,1.48)

// Rear spindle and wheel connections
[JOINT&HINGE]
posbody=rl_wheel negbody=rl_spindle pos=rl_wheel axis=(-1.0,0.0,0.0)

[JOINT&HINGE]
posbody=rr_wheel negbody=rr_spindle pos=rr_wheel axis=(1.0,0.0,0.0)


