Yamaha launched the YZF-R1 after redesigning the Genesis engine to create a more compact engine by raising the gearbox input shaft and allowing the gearbox output shaft to be placed beneath it. This design feature was revolutionary, called a 'stacked gearbox', it has set a precedent for other manufacturers to follow. This "compacting" of the engine made the total engine length much shorter overall, thereby, allowing the wheelbase of the motorcycle to be shortened significantly. This, in turn, allowed the frame design to place the weight of the engine in the frame to aid handling because of an optimized center of gravity. The swingarm was able to be made longer without compromising the overall wheelbase, which was a short 1385mm.