gistfile1.cpp

 657   void callback() {
 658       // Lift = R(0, 1, 0) |K| (sin theta)
 659       // Drag  = -K (sin theta)
 660       // Where theta is the angle between w (planes direction) and K
 661       // This should be direction of  - not velocity -
 662       // You've got velocity * R (the rotation) u = R(velocity)
 663       // K ends up as the actual direction of motion
 664       // plane->K + plane->R * Vector(0, 0, +1)  Add a constant 
 665       if (engineSpeed != 0) {
 666         // Apply Thrust
 667         Vector thrust = plane->R * Vector(0, 0, engineSpeed);
 668         plane->K = plane->K + thrust;
 669 
 670         // Apply Lift - Should lift be a force generator?
 671         Vector unitThrust = thrust / norm(thrust);
 672         float normK = norm(plane->K);
 673         Vector unitK = plane->K / normK;
 674         cout << "Unit K: " << unitK(X) << "," << unitK(Y) << "," << unitK(Z) << endl;
 675         cout << "Unit Thrust: " << unitThrust(X) << "," << unitThrust(Y) << "," << unitThrust(Z) << endl;
 676 
 677         float sinTheta = norm(cross(unitThrust, unitK));
 678         Vector lift = plane->R * Vector(0, 1, 0) * normK * sinTheta;
 679 
 680         plane->K = plane->K + lift;
 681        
 682         // Apply Drag
 683 //        plane->K = plane->K - (plane->K * sinTheta);
 684       }
 685   }