I would like to reproduce the following image, but in addition labelled with "Wheelbase $w$" and "Track $t$".

I've tried my best with pst-solides3d, but the result is much worse (and I didn't even try to write text by now):

There seems not to be any possibility to get this with TikZ (see e.g. this question - I don't want to have to think about how a 3D model can be created by only using 2d graphics).
I would like to know a convenient way to create 3D images that describe geometric situations. So I need basic geometric objects (cylinders, cuboids, spheres, cones), an easy way to change the viewpoint, arrows, text that can be placed in 3d (like in the first image) and - if possible - a way to write variables like in LaTeX.
I thought about using Blender or POV-Ray, but both seem to be quite complicated to use and I do not know where to start / ask questions when I'm stuck with one of them. I also don't know how to write variables like in LaTeX.
My Question
Do you know either a way to get a similar result with pst-solides3d or any other LaTeX package to the first image?
If not, do you know if Blender / POV-Ray or any other software is
- able to create 3d models (are they called wire-frame models?),
- free (not necessarily open source, but I would prefer it),
- available for Linux,
- able to create PDF / SVG / TEX files,
- has a good documentation and
- a forum (preferably a StackExchange site) where I can ask questions when I don't know how to continue?
