The main question projecting a full susp. bicycle frame is to combine linear shock travel with a reasonable low ratio and a minimal to no interaction with the chain/s length but still maintaining a good pedal-ability; the pedal action, indeed, has less power than a typical ES motor, but has a bigger vertical component at BB level due to the high torque/low rpm and the non-linear power input and rider weight movement, proper of the human traction.
The less the bike need a pedal ability, the more you can play with setups closer to motorbike-style pivoting....
For single pivots bikes, the position of the pivot is really constrained to a small (would say max 150mm radium) area up and forward the BB point.
Pivot driven Bikes like Brooklin, GT It-1 and some other mostly old models made by famous and non famous brands (nicolai and devinci as an example), have the problem that the distance between BB and pivot cannot be so close, to allow the primary pedal chain to work well, and keep the space for sprockets and stuff....
Another typical issue is the interaction with the Disk Brake that don't allow the susp to work good (or at all) while braking....
I've made a lot of measures/modeling of existing bikes in my life, these are models of the mentioned Pivot drive bikes for instance.....I can send you the original CADS if this can help.....
Cheers