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Thanks! I figured out that density thing already which you can see from the slightly denser treads, but I had no idea I could mess with the simulation frequency.
cnguyen7 Press S to start the engine spinning in the right direction
The Linkage I know it isn't a wankel per-se but creating an epitrochoid housing was beyond me. I didn't realize until now that it wasn't to scale (~4.75m) but re-sizing it keeps the materials' properties the same (and at the size it is here it works fine), and I'm not too too concerned with realism here as long as it drives.