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3D vehicle simulator in which vechicle's configuration as a whole (articulated body) , is represented by a 'vector' of generalised coordinates. so concepts like usual position and orientation of main body and wheels is all defined by the generalised coordinates.Using Lagrangian dynamics, theese coordinates are evolving in time in a realistic manner according to F=ma but as if there were also all constraint forces concretasing the presence of joints: hinge, prismatic, rigid connection, etc....

Sort of remake of the classic STUNTS[1990] driving game, but featuring many authentic elements, OpenGL graphics, and more realistic physics than the origianal, plus particular attention to internal view. It has all the features that CTruck3D has but it is much like GTA 3 ... can get on-off the vehicle, and one can climb on stunt-structures, and there are buildings on which one can jump. As soon as possible I wish to put more structures, and do better climb-on simulation. Of course heightmap is editable, a 300x300 one, and also the color map is editable so one can draw nice roads... also the position of stunt-structures in easily editable. ...