# ####         Y Forward
# ####         X Starboard
# ####         Z Up

# NOTES
# at this time, any 0 0 0 0 0 0 means they need to be placed.  this will rewquire work in Blender.
#  ATM, the joints (previously dofs) will not operate as expected since they all share the same coordinate system



0 add bradley nil
0 bradley add meta-ifv meta-ifv_hull.mesh
# -0.0325 3.62 0.0145 -90 0 0
0 bradley:meta-ifv add turret meta-ifv_turret.mesh 0 -3.531 0S
0 bradley:meta-ifv:turret add gun meta-ifv_gun.mesh 0 0 0


0 bradley add ramp nil 0 -6.041339 0.5459451;#TBD if this is a good way to go
0 bradley:ramp add door meta-ifv_ramp.mesh 0 0 0 0 0 0
0 bradley:ramp:door add connector RampConnectorBracket.mesh -0.543 0.15 0.086
#-0.608 0.196 0.086 0 0 0

0 bradley add pivot RampPivotBracket.mesh -0.5461 -5.806262 0.5541899
#-0.622 -2.194 0.564 0 0 0
0 bradley:pivot add piston meta-ifv_rod.mesh 0.013 0.128 0 0 -34.2419 0 
0 bradley:pivot:piston add cylinder meta-ifv_actuator.mesh 0 0 0 0 0 0

#set polynomial follows for other ramp parts (calculated in excel by moving geometry by eye in blender)
0 rel poly3 bradley.0:ramp.0 p bradley:ramp:door:connector p 0 0.001 -0.9404 7.5336
0 rel poly3 bradley.0:ramp.0 p bradley:pivot p -.00001391 0.00218865 0.74137429 30
#use rel law of cosines function to define the angle and length of the piston (B is return angle, c is return Length)
0 rel loc bradley.0:pivot.0 p bradley:pivot:piston p 0.128 .696 2 B
0 rel loc bradley.0:pivot.0 p bradley:pivot:piston:cylinder y 0.128 0.696 0.588 c


# add main components
0 bradley add suspension Suspension.mesh 0.0325 -3.62 -0.0145 0 0 0
0 bradley:suspension add track1 Tracks_DoublePinTrack.mesh
0 bradley:suspension add track2 Tracks_SingleTrackLin.mesh
#hide the undesired track
0 bradley:suspension:track2 scene 0


0 bradley:ramp add foot.1 footprint.mesh -0.5 -.025 .5 0 -80 0
0 bradley:ramp add foot.2 footprint_r.mesh 0.5 -.025 .63 0 -80 0
0 bradley:ramp add foot.3 footprint.mesh -0.5 -.14 1 0 -80 0
0 bradley:ramp add foot.4 footprint_r.mesh 0.5 -.14 1.27 0 -80 0

0.1 bradley h 90
0.1 bradley:ramp:foot.* show 0

1 ep 13.5 -7 3.5 61 -7 0