[Add] Centrifuagal and Coriolis effect in rotating frames.

src/dynamic_body.cpp

@@ -99,16 +99,32 @@ vector3d DynamicBody::GetPosition(void) const {
 
 void DynamicBody::TimeStepUpdate(const float timeStep) {
   if(m_enabled) {
+    /* This is for rotating frames. It is reested. */
+    vector3d angRot = GetFrame()->GetAngVelocity();
+    {
+      double omega = angRot.Length();
+      if(omega) {
+        /* Centifugal force. */
+        vector3d perpend = vector3d::Cross(angRot, GetPosition());
+        perpend = vector3d::Normalize(Vector3d::Corss(perpend, angRot));
+        double R = vector3d::Dot(perpend, GetPosition());
+        double centrifugal = m_mass * omega * R;
+        m_force += centrifuagal * perpend;
+        /* Coriolis force. */
+        m_force += -2*m_mass*vector3d::Cross(angRot, GetVelocity());
+      }
+    }
     m_oldOrient = m_orient;
     m_vel += timeStep * m_force * (1.0/m_mass);
     m_angVel += timeStep * m_torque * (1.0 / m_angInertia);
+    vector3d consideredAngVel = m_angVel - angRot;
 
     vector3d pos = GetPosition();
     /* Applying angular velocity :/ */
     {
-      double len = m_angVel.Length();
+      double len = consideredAngVel.Length();
       if(len != 0) {
-        vector3d rotAxis = m_angVel * (1.0 / len);
+        vector3d rotAxis = consideredAngVel * (1.0 / len);
         matrix4x4d rotMatrix = matrix4x4d::RotateMatrix(len * timeStep,
             rotAxis.x, rotAxis.y, rotAxis.z);
         m_orient = rotMatrix * m_orient;

src/frame.cpp

@@ -130,3 +130,20 @@ void Frame::RotateInTimestep(double step) {
   m_orient = rotMatrix * m_orient;
 }
 
+/*
+ * For an object in a rotating frame, relative to non-rotating frames it
+ * must attain this velocity within rotating frame to be stationary.
+ */
+vector3d Frame::GetStasisVelocityAtPosition(const vector3d& pos) const {
+  const double omega = m_angVel.Length();
+  if(omega) {
+    vector3d perpend = vector3d::Cross(m_angVel, pos);
+    perpend = vector3d::Normalize(vector3d::Cross(perpend, m_angVel));
+    double R = vector3d::Dot(perpend, pos);
+    perpend *= R;
+    return -vector3d::Cross(m_angVel, perpend);
+  } else {
+    return vector3d(0,0,0);
+  }
+}
+

src/frame.h

@@ -28,6 +28,7 @@ public:
   vector3d GetVelocity(void) const              { return m_vel; }
   void SetAngVelocity(const vector3d& angvel)   { m_angVel = angvel; }
   vector3d GetAngVelocity(void) const           { return m_angVel; }
+  vector3d GetStasisVelocityAtPosition(const vector3d& pos) const;
   const matrix4x4d& GetOrientation(void) const  { return m_orient; }
   void SetOrientation(const matrix4x4d& m)      { m_orient = m; }
   void SetRadius(double radius)                 { m_radius = radius; }

src/glfreetype.cpp

@@ -581,7 +581,7 @@ void TextureFontFace::LayoutString(const char* _str, float maxWidth) {
     glPushMatrix();
     for(int i = 0; i < num; i++) {
       word_t word = words.front();
-      if(word.word) RenderString(word.word);
+      if(word.word) RenderMarkup(word.word);
       glTranslatef(word.advx + _spaceWidth 0, 0);
       words.pop_front();
     }

src/main.cpp

@@ -195,11 +195,14 @@ void L3D::HandleEvents(void) {
         matrix4x4d m; L3D::player->GetRotMatrix(m);
         vector3d dir = m*vector3d(0,0,-1);
         if(KeyState(SDLK_LSHIFT)) {
+          Frame* rotFrame = new Frame(L3D::player->GetFrame(), "Station rot frame");
+          rotFrame->SetRadius(3000.0); //(1.1*sbody->GetRadius());
+          rotFrame->SetPosition(L3D::player->GetPosition()+5000.0*dir);
+          rotFrame->SetAngVelocity(vector3d(0, 2*M_PI/10,0));
           SpaceStation* station = new SpaceStation(SpaceStation::JJHOOP);
           station->SetLabel("Poemi-chan's Folly");
-          station->SetFrame(L3D::player->GetFrame());
+          station->SetFrame(rotFrame);
           station->SetRotMatrix(matrix4x4d::RotateZMatrix(M_PI));
-          station->SetPosition(L3D::player->GetPosition()+5000.0*dir);
           Space::AddBody(station);
         } else {
           Ship* ship = new Ship(ShipType::LADYBIRD);

src/player.cpp

@@ -226,7 +226,9 @@ void Player::DrawHUD(const Frame* cam_frame) {
 
   /* Direction indicator. */
   const float sz = HUD_CROSSHAIR_SIZE;
-  const vector3d vel = GetVelocity();
+  vector3d vel = GetVelocity();
+  vel -= GetFrame()->GetStasisVelocityAtPosition(GetPosition());
+
   vector3d loc_v = cam_frame->GetOrientation().InverseOf() * vel;
   if(loc_v.z < 0) {
     GLdouble pos[3];

src/ship_ai.cpp

@@ -77,6 +77,7 @@ void Ship::AIModelCoordsMatchSpeedRelTo(const vector3d v, const Ship* other) {
   AIAccelToModelRelativeVelocity(relToVel);
 }
 
+#include "frame.h"
 /*
  * Try to reach this model-relative velocity.
  * (0,0,-100) would mean going 100m/s forward.
@@ -84,7 +85,16 @@ void Ship::AIModelCoordsMatchSpeedRelTo(const vector3d v, const Ship* other) {
 void Ship::AIAccelToModelRelativeVelocity(const vector3d v) {
   const ShipType& stype = GetShipType();
   
-  vector3d relVel = GetVelocity(); // - enemy->GetVelocity();
+  /*
+   * Ok. For rotating frames linked to space stations we want to set speed
+   * relative to non-rotating frame (so we apply Frame::GetStasisVelocityAtPosition.
+   * For rotating frames linked to planets we want to set velocity relative to
+   * surface, so we do not apply Frame::GetStasisVelocityAtPosition.
+   */
+  vector3d relVel = GetVelocity();
+  if(!GetFrame()->m_astroBody) {
+    relVel -= GetFrame()->GetStasisVelocityAtPosition(GetPosition());
+  }
   matrix4x4d m; GetRotMatrix(m);
   relVel = m.InverseOf() * relVel;
 

src/ship_cpanel.cpp

@@ -87,7 +87,7 @@ ShipCpanel::ShipCpanel(void) : Gui::Fixed(Gui::Screen::GetWidth(), 64) {
   Add(m_clock, 2, 1);
 
   tempMsg = new Gui::Label("");
-  Add(tempMsg, 170, 44);
+  Add(tempMsg, 170, 4);
 }
 
 void ShipCpanel::SetTemporaryMessage(Body* const sender, std::string msg) {

src/space.cpp

@@ -235,12 +235,11 @@ void Space::UpdateFramesOfReference(void) {
         b->GetRotMatrix(rot);
         b->SetRotMatrix(m * rot);
 
+        b->SetVelocity(oldFrameVel + m_ApplyRotationOnly(b->GetVelocity() -
+              b->GetFrame()->GetStasisVelocityAtPosition(b->GetPosition())));
+
         b->SetFrame(new_frame);
         b->SetPosition(new_pos);
-
-        /* Get rid of transforms. */
-        m.ClearToRotOnly();
-        b->SetVelocity(m*b->GetVelocity() + oldFrameVel);
       } else {
         b->SetVelocity(b->GetVelocity() + oldFrameVel);
       }
@@ -264,7 +263,9 @@ void Space::UpdateFramesOfReference(void) {
 
         /* Get rid of transforms. */
         m.ClearToRotOnly();
-        b->SetVelocity(m*b->GetVelocity()-child->GetVelocity());
+        b->SetVelocity(m*b->GetVelocity()
+            - kid->GetVelocity()
+            + kid->GetStasisVelocityAtPosition(pos));
         break;
       }
     }