Merge branch 'master' of git://github.com/worklist/interface

Conflicts:
	main.cpp

SerialInterface.cpp

@@ -58,8 +58,12 @@ int init_port(int baud)
 
 int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels)
 {
+    //  Channels: 
+    //  0, 1 = Head Pitch and Yaw 
+    //  2,3,4 = Head XYZ Acceleration
+    //
     int samples_read = 0;
-    const float AVG_RATE =  0.001;  // 0.00001;
+    const float AVG_RATE[] =  {0.001, 0.001, 0.01, 0.01, 0.01};
     char bufchar[1];
     while (read(serial_fd, bufchar, 1) > 0)
     {
@@ -72,20 +76,18 @@ int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_chan
             //  At end - Extract value from string to variables
             if (serial_buffer[0] != 'p')
             {
-                sscanf(serial_buffer, "%d %d %d %d %d %d %d %d",    /* Needs to match Num Channels */
+                sscanf(serial_buffer, "%d %d %d %d %d",    /* Needs to match Num Channels */
                        &adc_channels[0], 
                        &adc_channels[1], 
                        &adc_channels[2], 
                        &adc_channels[3],
-                       &adc_channels[4],
+                       &adc_channels[4]
-                       &adc_channels[5],
+                       );
-                       &adc_channels[6],
-                       &adc_channels[7]);
                 for (int i = 0; i < NUM_CHANNELS; i++)
                 {
                     if (!first_measurement)
-                        avg_adc_channels[i] = (1.f - AVG_RATE)*avg_adc_channels[i] + 
+                        avg_adc_channels[i] = (1.f - AVG_RATE[i])*avg_adc_channels[i] + 
-                        AVG_RATE*(float)adc_channels[i];
+                        AVG_RATE[i]*(float)adc_channels[i];
                     else
                     {
                         avg_adc_channels[i] = (float)adc_channels[i];

SerialInterface.h

@@ -9,7 +9,7 @@
 int init_port (int baud);
 int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels);
 
-#define NUM_CHANNELS 8
+#define NUM_CHANNELS 5
-#define SERIAL_PORT_NAME "/dev/tty.usbmodem411"
+#define SERIAL_PORT_NAME "/dev/tty.usbmodem641"
 
 #endif

cloud.cpp

@@ -0,0 +1,119 @@
+//
+//  cloud.cpp
+//  interface
+//
+//  Created by Philip Rosedale on 11/17/12.
+//  Copyright (c) 2012 __MyCompanyName__. All rights reserved.
+//
+
+#include <iostream>
+#include "cloud.h"
+#include "util.h"
+
+Cloud::Cloud(int num, 
+             glm::vec3 box,
+             int wrap) {
+    //  Create and initialize particles 
+    int i;
+    bounds = box;
+    count = num;
+    wrapBounds = wrap;
+    particles = new Particle[count];
+    
+    for (i = 0; i < count; i++) {
+        particles[i].position.x = randFloat()*box.x;
+        particles[i].position.y = randFloat()*box.y;
+        particles[i].position.z = randFloat()*box.z;
+                
+        particles[i].velocity.x = 0;  //randFloat() - 0.5;
+        particles[i].velocity.y = 0;  //randFloat() - 0.5;
+        particles[i].velocity.z = 0;  //randFloat() - 0.5;
+        
+    }
+}
+
+
+void Cloud::render() {
+    
+    float particle_attenuation_quadratic[] =  { 0.0f, 0.0f, 2.0f };
+    
+    glEnable( GL_TEXTURE_2D );
+    glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
+    glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, particle_attenuation_quadratic );
+    
+    float maxSize = 0.0f;
+    glGetFloatv( GL_POINT_SIZE_MAX_ARB, &maxSize );
+    glPointSize( maxSize );
+    glPointParameterfARB( GL_POINT_SIZE_MAX_ARB, maxSize );
+    glPointParameterfARB( GL_POINT_SIZE_MIN_ARB, 0.001f );
+    
+    glTexEnvf( GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE );
+    glEnable( GL_POINT_SPRITE_ARB );
+    glBegin( GL_POINTS );
+        for (int i = 0; i < count; i++)
+        {
+            glVertex3f(particles[i].position.x,
+                       particles[i].position.y,
+                       particles[i].position.z);
+        }
+    glEnd();
+    glDisable( GL_POINT_SPRITE_ARB );
+    glDisable( GL_TEXTURE_2D );
+}
+
+void Cloud::simulate (float deltaTime) {
+    int i;
+    for (i = 0; i < count; ++i) {
+        
+        // Update position 
+        //particles[i].position += particles[i].velocity*deltaTime;
+        particles[i].position += particles[i].velocity;
+
+        // Decay Velocity (Drag)
+        const float CONSTANT_DAMPING = 1.0;
+        particles[i].velocity *= (1.f - CONSTANT_DAMPING*deltaTime);
+                
+        // Interact with Field
+        const float FIELD_COUPLE = 0.0000001;
+        field_interact(&particles[i].position, &particles[i].velocity, FIELD_COUPLE);
+        
+        //  Bounce or Wrap 
+        if (wrapBounds) {
+            // wrap around bounds
+            if (particles[i].position.x > bounds.x)
+                particles[i].position.x -= bounds.x;
+            else if (particles[i].position.x < 0.0f)
+                particles[i].position.x += bounds.x;
+            
+            if (particles[i].position.y > bounds.y)
+                particles[i].position.y -= bounds.y;
+            else if (particles[i].position.y < 0.0f)
+                particles[i].position.y += bounds.y;
+            
+            if (particles[i].position.z > bounds.z)
+                particles[i].position.z -= bounds.z;
+            else if (particles[i].position.z < 0.0f)
+                particles[i].position.z += bounds.z;
+        } else {
+            // Bounce at bounds
+            if (particles[i].position.x > bounds.x 
+                || particles[i].position.x < 0.f) {
+                if (particles[i].position.x > bounds.x) particles[i].position.x = bounds.x;
+                else particles[i].position.x = 0.f;
+                particles[i].velocity.x *= -1;
+            }
+            if (particles[i].position.y > bounds.y 
+                || particles[i].position.y < 0.f) {
+                if (particles[i].position.y > bounds.y) particles[i].position.y = bounds.y;
+                else particles[i].position.y = 0.f;
+                particles[i].velocity.y *= -1;
+            }
+            if (particles[i].position.z > bounds.z 
+                || particles[i].position.z < 0.f) {
+                if (particles[i].position.z > bounds.z) particles[i].position.z = bounds.z;
+                else particles[i].position.z = 0.f;
+                particles[i].velocity.z *= -1;
+            }
+        }
+    }
+ }

cloud.h

@@ -0,0 +1,32 @@
+//
+//  cloud.h
+//  interface
+//
+//  Created by Philip Rosedale on 11/17/12.
+//  Copyright (c) 2012 __MyCompanyName__. All rights reserved.
+//
+
+#ifndef interface_cloud_h
+#define interface_cloud_h
+
+#include "field.h"
+
+class Cloud {
+public:
+    Cloud(int num, 
+          glm::vec3 box,
+          int wrap);
+    
+    void simulate(float deltaTime);
+    void render();
+    
+private:
+    struct Particle {
+        glm::vec3 position, velocity;
+       } *particles;
+    unsigned int count;
+    glm::vec3 bounds;
+    bool wrapBounds;
+};
+
+#endif

field.cpp

@@ -60,6 +60,21 @@ void field_add(float* add, float *pos)
     }
 }
 
+void field_interact(glm::vec3 * pos, glm::vec3 * vel, float coupling) {
+     
+    int index = (int)(pos->x/WORLD_SIZE*10.0) + 
+    (int)(pos->y/WORLD_SIZE*10.0)*10 + 
+    (int)(pos->z/WORLD_SIZE*10.0)*100;
+    if ((index >= 0) && (index < FIELD_ELEMENTS)) {
+        //  Add velocity to particle from field
+        *vel += field[index].val;
+        //  Add back to field from particle velocity 
+        glm::vec3 temp = *vel;
+        temp *= coupling;
+        field[index].val += temp;
+    }
+}
+
 void field_avg_neighbors(int index, glm::vec3 * result) {
     //  Given index to field element i, return neighbor field values 
     glm::vec3 neighbors(0,0,0);

field.h

@@ -27,17 +27,7 @@ void field_init();
 int field_value(float *ret, float *pos);
 void field_render();
 void field_add(float* add, float *loc);
+void field_interact(glm::vec3 * pos, glm::vec3 * vel, float coupling);
 void field_simulate(float dt);
 
-class Field {
-public:
-    static void init ();
-    static int addTo (const glm::vec3 &pos, glm::vec3 &v);
-
-private:
-    const static unsigned int fieldSize = 1000;
-    const static float fieldScale; // defined in cpp – inline const float definitions not allowed in standard C++?! (allowed in C++0x)
-    static glm::vec3 field[fieldSize];
-};
-
 #endif

hardware/head_hand/head_hand.pde

@@ -4,16 +4,16 @@ Read a set of analog input lines and echo their readings over the serial port wi
 
 //  ADC PIN MAPPINGS 
 //
-//  0, 1 =   Head Pitch, Yaw gyro 
+//  15,16 =   Head Pitch, Yaw gyro 
-//  2,3,4    =  Head Accelerometer
+//  17,18,19    =  Head Accelerometer
-//  10,11,12 = Hand Accelerometer
 
-#define NUM_CHANNELS 8
-#define AVERAGE_COUNT 100
-#define TOGGLE_LED_SAMPLES 1000
 
-int inputPins[NUM_CHANNELS] = {0,1,2,3,4,10,11,12};
+#define NUM_CHANNELS 5
+#define MSECS_PER_SAMPLE 10
 
+int inputPins[NUM_CHANNELS] = {19,20,15,16,17};
+
+unsigned int time;
 
 int measured[NUM_CHANNELS];
 float accumulate[NUM_CHANNELS];
@@ -29,6 +29,7 @@ void setup()
     accumulate[i] = measured[i];
   }
   pinMode(BOARD_LED_PIN, OUTPUT);
+  time = millis();
 }
 
 void loop()
@@ -36,17 +37,22 @@ void loop()
   int i;
   sampleCount++;
   for (i = 0; i < NUM_CHANNELS; i++) {
-    if (sampleCount % AVERAGE_COUNT == 0) {
+    accumulate[i] += analogRead(inputPins[i]);
-      measured[i] = accumulate[i] / AVERAGE_COUNT;
+  }
+  if ((millis() - time) >= MSECS_PER_SAMPLE) {
+      time = millis();
+      for (i = 0; i < NUM_CHANNELS; i++) {
+        measured[i] = accumulate[i] / sampleCount;
         SerialUSB.print(measured[i]);
         SerialUSB.print(" ");
         accumulate[i] = 0;
-    } else {
-      accumulate[i] += analogRead(inputPins[i]);
       }  
+      //SerialUSB.print("(");
+      //SerialUSB.print(sampleCount);
+      //SerialUSB.print(")");
+      SerialUSB.println("");
+      sampleCount = 0;
   }  
-  if (sampleCount % AVERAGE_COUNT == 0) SerialUSB.println("");
-  if (sampleCount % TOGGLE_LED_SAMPLES == 0) toggleLED();
 }
 
 

head.cpp

@@ -43,6 +43,8 @@ Head::Head()
     PitchTarget = YawTarget = 0; 
     NoiseEnvelope = 1.0;
     PupilConverge = 2.1;
+    leanForward = 0.0;
+    leanSideways = 0.0;
     setNoise(0);
 }
 
@@ -51,10 +53,22 @@ void Head::reset()
     position = glm::vec3(0,0,0);
     Pitch = 0;
     Yaw = 0;
+    leanForward = leanSideways = 0;
+}
+
+//  Read the sensors
+void readSensors()
+{
+    
+}
+
+void Head::addLean(float x, float z) {
+    //  Add Body lean as impulse 
+    leanSideways += x;
+    leanForward += z;
 }
 
 //  Simulate the head over time 
-
 void Head::simulate(float deltaTime)
 {
     if (!noise)
@@ -71,6 +85,9 @@ void Head::simulate(float deltaTime)
         Roll *= (1.f - DECAY*deltaTime);
     }
     
+    leanForward *= (1.f - DECAY*30.f*deltaTime);
+    leanSideways *= (1.f - DECAY*30.f*deltaTime);
+    
     if (noise)
     {
         Pitch += (randFloat() - 0.5)*0.05*NoiseEnvelope;
@@ -118,6 +135,7 @@ void Head::render()
     glPushMatrix();
         glLoadIdentity();
         glTranslatef(0.f, 0.f, -7.f);
+        glTranslatef(leanSideways, 0.f, leanForward);
         glRotatef(Yaw/2.0, 0, 1, 0);
         glRotatef(Pitch/2.0, 1, 0, 0);
         glRotatef(Roll/2.0, 0, 0, 1);
@@ -160,6 +178,7 @@ void Head::render()
             }
         glPopMatrix();
         
+        
         // Mouth
         glPushMatrix();
             glTranslatef(0,-0.3,0.75);

head.h

@@ -34,6 +34,8 @@ class Head {
     float MouthYaw;
     float MouthWidth;
     float MouthHeight;
+    float leanForward;
+    float leanSideways;
     
     float PitchTarget; 
     float YawTarget; 
@@ -44,6 +46,8 @@ class Head {
     
     glm::vec3 position;
     
+    void readSensors();
+    
 public:
     Head(void);
     void reset();
@@ -52,6 +56,7 @@ public:
     void setYaw(float y) {Yaw = y; }
     void addPitch(float p) {Pitch -= p; }
     void addYaw(float y){Yaw -= y; }
+    void addLean(float x, float z);
     void getPitch(float);
     void render();
     void simulate(float);

interface.xcodeproj/project.pbxproj

@@ -15,6 +15,7 @@
 		B6BDADE315F44AB0002A07DF /* AudioToolbox.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = B6BDADDA15F444C9002A07DF /* AudioToolbox.framework */; };
 		B6BDADE415F44AC7002A07DF /* AudioUnit.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = B6BDADDC15F444D3002A07DF /* AudioUnit.framework */; };
 		B6BDAE4415F6BE53002A07DF /* particle.cpp in Sources */ = {isa = PBXBuildFile; fileRef = B6BDAE4315F6BE53002A07DF /* particle.cpp */; };
+		D409B98A165849180099B0B3 /* cloud.cpp in Sources */ = {isa = PBXBuildFile; fileRef = D409B989165849180099B0B3 /* cloud.cpp */; };
 		D40BDFD513404BA300B0BE1F /* GLUT.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = D40BDFD413404BA300B0BE1F /* GLUT.framework */; };
 		D40BDFD713404BB300B0BE1F /* OpenGL.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = D40BDFD613404BB300B0BE1F /* OpenGL.framework */; };
 		D40FD5FB164AF1C200878184 /* int-texture256-v2.png in CopyFiles */ = {isa = PBXBuildFile; fileRef = D40FD5FA164AF1A700878184 /* int-texture256-v2.png */; };
@@ -66,6 +67,8 @@
 		B6BDAE4115F6BE4D002A07DF /* particle.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = particle.h; sourceTree = "<group>"; };
 		B6BDAE4315F6BE53002A07DF /* particle.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = particle.cpp; sourceTree = "<group>"; };
 		C6859E8B029090EE04C91782 /* test_c_plus.1 */ = {isa = PBXFileReference; lastKnownFileType = text.man; path = test_c_plus.1; sourceTree = "<group>"; };
+		D409B988165849030099B0B3 /* cloud.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; path = cloud.h; sourceTree = "<group>"; };
+		D409B989165849180099B0B3 /* cloud.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = cloud.cpp; sourceTree = "<group>"; };
 		D40BDFD413404BA300B0BE1F /* GLUT.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = GLUT.framework; path = /System/Library/Frameworks/GLUT.framework; sourceTree = "<absolute>"; };
 		D40BDFD613404BB300B0BE1F /* OpenGL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = OpenGL.framework; path = /System/Library/Frameworks/OpenGL.framework; sourceTree = "<absolute>"; };
 		D40FD5FA164AF1A700878184 /* int-texture256-v2.png */ = {isa = PBXFileReference; lastKnownFileType = image.png; path = "int-texture256-v2.png"; sourceTree = SOURCE_ROOT; };
@@ -134,6 +137,8 @@
 			isa = PBXGroup;
 			children = (
 				08FB7796FE84155DC02AAC07 /* main.cpp */,
+				D409B988165849030099B0B3 /* cloud.h */,
+				D409B989165849180099B0B3 /* cloud.cpp */,
 				D4EE3BC015E746E900EE4C89 /* world.h */,
 				B6BDAE4315F6BE53002A07DF /* particle.cpp */,
 				B6BDAE4115F6BE4D002A07DF /* particle.h */,
@@ -261,6 +266,7 @@
 				D4EFE3D0162A2DA000DC5C59 /* hand.cpp in Sources */,
 				F68135561648617D003040E3 /* texture.cpp in Sources */,
 				F681358B1648896D003040E3 /* lodepng.cpp in Sources */,
+				D409B98A165849180099B0B3 /* cloud.cpp in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};

interface.xcodeproj/xcuserdata/philip.xcuserdatad/xcdebugger/Breakpoints.xcbkptlist

@@ -8,11 +8,11 @@
          ignoreCount = "0"
          continueAfterRunningActions = "No"
          filePath = "field.cpp"
-         timestampString = "372274896.176083"
+         timestampString = "374955033.430214"
          startingColumnNumber = "9223372036854775807"
          endingColumnNumber = "9223372036854775807"
-         startingLineNumber = "83"
+         startingLineNumber = "98"
-         endingLineNumber = "83"
+         endingLineNumber = "98"
          landmarkName = "field_avg_neighbors(int index, glm::vec3 * result)"
          landmarkType = "7">
       </FileBreakpoint>

main.cpp

@@ -49,12 +49,16 @@
 
 #include "texture.h"
 
+#include "cloud.h"
+
 //TGAImg Img;
 
 using namespace std;
 
 //   Junk for talking to the Serial Port 
 int serial_on = 0;                  //  Is serial connection on/off?  System will try
+int audio_on = 0;                   //  Whether to turn on the audio support 
+int simulate_on = 1; 
 
 //  Network Socket Stuff 
 //  For testing, add milliseconds of delay for received UDP packets
@@ -73,6 +77,8 @@ int bytescount = 0;
 int target_x, target_y; 
 int target_display = 0;
 
+int head_mirror = 0;                     //  Whether to mirror the head when viewing it
+
 unsigned char last_key = 0; 
 
 double ping = 0; 
@@ -89,7 +95,7 @@ Hand myHand(HAND_RADIUS,
             glm::vec3(0,1,1));      //  My hand (used to manipulate things in world)
 
 glm::vec3 box(WORLD_SIZE,WORLD_SIZE,WORLD_SIZE);
-ParticleSystem balls(1000, 
+ParticleSystem balls(0, 
                      box, 
                      false,                     //  Wrap?
                      0.02,                      //  Noise
@@ -97,7 +103,10 @@ ParticleSystem balls(1000,
                      0.0                        //  Gravity 
                      );
 
-
+Cloud cloud(250000,                             //  Particles
+            box,                                //  Bounding Box
+            false                               //  Wrap
+            );
 
 //  FIELD INFORMATION 
 //  If the simulation 'world' is a box with 10M boundaries, the offset to a field cell is given by:
@@ -112,15 +121,11 @@ ParticleSystem balls(1000,
 #define RENDER_FRAME_MSECS 10
 #define SLEEP 0
 
-#define NUM_TRIS 100000
+#define NUM_TRIS 0
+
 struct {
     float vertices[NUM_TRIS * 3];
-//    float normals [NUM_TRIS * 3];
-//    float colors  [NUM_TRIS * 3];
     float vel     [NUM_TRIS * 3];
-    glm::vec3 vel1[NUM_TRIS];
-    glm::vec3 vel2[NUM_TRIS];
-    int element[NUM_TRIS];
 }tris;
 
 
@@ -155,6 +160,7 @@ int display_field = 0;
 
 int display_head_mouse = 1;         //  Display sample mouse pointer controlled by head movement
 int head_mouse_x, head_mouse_y; 
+int head_lean_x, head_lean_y;
 
 int mouse_x, mouse_y;				//  Where is the mouse 
 int mouse_pressed = 0;				//  true if mouse has been pressed (clear when finished)
@@ -194,7 +200,7 @@ double elapsedTime;
 // 1. Add to the XCode project in the Resources/images group
 //    (ensure "Copy file" is checked
 // 2. Add to the "Copy files" build phase in the project
-char texture_filename[] = "int-texture256-v4.png";
+char texture_filename[] = "./int-texture256-v4.png";
 unsigned int texture_width = 256;
 unsigned int texture_height = 256;
 
@@ -264,8 +270,10 @@ void init(void)
     load_png_as_texture(texture_filename);
     printf("Texture loaded.\n");
 
+    if (audio_on) {
         Audio::init();
         printf( "Audio started.\n" );
+    }
 
     //  Clear serial channels 
     for (i = i; i < NUM_CHANNELS; i++)
@@ -276,6 +284,8 @@ void init(void)
 
     head_mouse_x = WIDTH/2;
     head_mouse_y = HEIGHT/2; 
+    head_lean_x = WIDTH/2;
+    head_lean_y = HEIGHT/2;
     
     //  Initialize Field values 
     field_init();
@@ -316,7 +326,6 @@ void init(void)
         //tris.normals[i*3+2] = pos.z;
         
         //  Moving - white
-        tris.element[i] = 1;
         //tris.colors[i*3] = 1.0;  tris.colors[i*3+1] = 1.0; tris.colors[i*3+2] = 1.0;
         tris.vel[i*3] = (randFloat() - 0.5)*VEL_SCALE;
         tris.vel[i*3+1] = (randFloat() - 0.5)*VEL_SCALE;
@@ -349,7 +358,9 @@ void terminate () {
     // Close serial port
     //close(serial_fd);
 
+    if (audio_on) { 
         Audio::terminate();
+    }
     exit(EXIT_SUCCESS);
 }
 
@@ -364,8 +375,6 @@ void update_tris()
     float field_val[3];
     float field_contrib[3];
     for (i = 0; i < NUM_TRIS; i++)
-    {
-        if (tris.element[i] == 1)          //  If moving object, move and drag
     {
         // Update position
         tris.vertices[i*3+0] += tris.vel[i*3];
@@ -380,10 +389,7 @@ void update_tris()
         tris.vel[i*3] *= DRAG;
         tris.vel[i*3+1] *= DRAG;
         tris.vel[i*3+2] *= DRAG;
-        }
                  
-        if (tris.element[i] == 1) 
-        {
         // Read and add velocity from field 
         field_value(field_val, &tris.vertices[i*3]);
         tris.vel[i*3] += field_val[0];
@@ -396,7 +402,7 @@ void update_tris()
         field_contrib[1] = tris.vel[i*3+1]*FIELD_COUPLE;
         field_contrib[2] = tris.vel[i*3+2]*FIELD_COUPLE;
         field_add(field_contrib, &tris.vertices[i*3]);
-        }
+            
  
         // bounce at edge of world 
         for (j=0; j < 3; j++) {
@@ -424,6 +430,9 @@ void reset_sensors()
     fwd_vel = 0.0;
     head_mouse_x = WIDTH/2;
     head_mouse_y = HEIGHT/2; 
+    head_lean_x = WIDTH/2;
+    head_lean_y = HEIGHT/2; 
+    
     myHead.reset();
     myHand.reset();
     if (serial_on) read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
@@ -434,12 +443,21 @@ void update_pos(float frametime)
 {
     float measured_pitch_rate = adc_channels[0] - avg_adc_channels[0];
     float measured_yaw_rate = adc_channels[1] - avg_adc_channels[1];
-    float measured_lateral_accel = adc_channels[2] - avg_adc_channels[2];
+    float measured_lateral_accel = adc_channels[3] - avg_adc_channels[3];
-    float measured_fwd_accel = avg_adc_channels[3] - adc_channels[3];
+    float measured_fwd_accel = avg_adc_channels[2] - adc_channels[2];
     
     //  Update avatar head position based on measured gyro rates
-    myHead.addYaw(measured_yaw_rate * 1.20 * frametime);
+    const float HEAD_ROTATION_SCALE = 0.10;
-    myHead.addPitch(measured_pitch_rate * -1.0 * frametime);
+    const float HEAD_LEAN_SCALE = 0.02;
+    if (head_mirror) {
+        myHead.addYaw(measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
+        myHead.addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
+        myHead.addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
+    } else {
+        myHead.addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
+        myHead.addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
+        myHead.addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);        
+    }
     //  Decay avatar head back toward zero
     //pitch *= (1.f - 5.0*frametime); 
     //yaw *= (1.f - 7.0*frametime);
@@ -459,6 +477,7 @@ void update_pos(float frametime)
     head_mouse_y = min(head_mouse_y, HEIGHT);
     
     //  Update hand/manipulator location for measured forces from serial channel
+    /*
     const float MIN_HAND_ACCEL = 30.0;
     const float HAND_FORCE_SCALE = 0.5;
     glm::vec3 hand_accel(-(avg_adc_channels[6] - adc_channels[6]),
@@ -469,6 +488,7 @@ void update_pos(float frametime)
     {
         myHand.addVel(frametime*hand_accel*HAND_FORCE_SCALE);
     }
+    */
                        
     //  Update render direction (pitch/yaw) based on measured gyro rates
     const int MIN_YAW_RATE = 300;
@@ -594,9 +614,10 @@ void display(void)
         glPointSize( maxSize );
         glPointParameterfARB( GL_POINT_SIZE_MAX_ARB, maxSize );
         glPointParameterfARB( GL_POINT_SIZE_MIN_ARB, 0.001f );
-        glTexEnvf( GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE );
 
+        glTexEnvf( GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE );
         glEnable( GL_POINT_SPRITE_ARB );
+        if (!display_head) {
             glBegin( GL_POINTS );
             {
                 for (i = 0; i < NUM_TRIS; i++)
@@ -607,10 +628,11 @@ void display(void)
                 }
             }
             glEnd();
-            
+        }
-        glDisable( GL_TEXTURE_2D );
         glDisable( GL_POINT_SPRITE_ARB );
+        glDisable( GL_TEXTURE_2D );
 
+        if (!display_head) cloud.render();
         //  Show field vectors
         if (display_field) field_render();
         
@@ -619,10 +641,10 @@ void display(void)
         if (display_hand) myHand.render();   
      
     
-        balls.render();
+        if (!display_head) balls.render();
             
         //  Render the world box 
-        render_world_box();
+        if (!display_head) render_world_box();
 
     glPopMatrix();
 
@@ -635,10 +657,10 @@ void display(void)
         glDisable(GL_LIGHTING);
 
         //drawvec3(100, 100, 0.15, 0, 1.0, 0, myHead.getPos(), 0, 1, 0);
+        glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, pointer_attenuation_quadratic );
 
         if (mouse_pressed == 1)
         {
-            glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, pointer_attenuation_quadratic );
             glPointSize( 10.0f );
             glColor3f(1,1,1);
             //glEnable(GL_POINT_SMOOTH);
@@ -649,7 +671,7 @@ void display(void)
             sprintf(val, "%d,%d", target_x, target_y); 
             drawtext(target_x, target_y-20, 0.08, 0, 1.0, 0, val, 0, 1, 0);
         }
-        if (display_head_mouse)
+        if (display_head_mouse && !display_head)
         {
             glPointSize(10.0f);
             glColor4f(1.0, 1.0, 0.0, 0.8);
@@ -731,6 +753,7 @@ void key(unsigned char k, int x, int y)
     if (k == ' ') reset_sensors();
     if (k == 'a') render_yaw_rate -= 0.25;
     if (k == 'd') render_yaw_rate += 0.25;
+    if (k == 'o') simulate_on = !simulate_on;
     if (k == 'p') 
     {
         // Add to field vector 
@@ -738,7 +761,7 @@ void key(unsigned char k, int x, int y)
         float add[] = {0.001, 0.001, 0.001};
         field_add(add, pos);
     }
-    if (k == 't') {
+    if ((k == 't') && (audio_on)) {
         Audio::writeTone(0, 400, 1.0f, 0.5f);
     }
     if (k == '1')
@@ -780,11 +803,14 @@ void idle(void)
     {
         //  Simulation
         update_pos(1.f/FPS); 
+        if (simulate_on) {
             update_tris();
             field_simulate(1.f/FPS);
             myHead.simulate(1.f/FPS);
             myHand.simulate(1.f/FPS);
             balls.simulate(1.f/FPS);
+            cloud.simulate(1.f/FPS);
+        }
 
         if (!step_on) glutPostRedisplay();
         last_frame = check;