Merge pull request #502 from ey6es/gyroquat

Increase YAW_DECAY, remove roll from head camera, provide option for pitch/yaw scale (zero by default).

interface/src/Application.cpp

@@ -26,6 +26,7 @@
 #include <QColorDialog>
 #include <QDialogButtonBox>
 #include <QDesktopWidget>
+#include <QDoubleSpinBox>
 #include <QFormLayout>
 #include <QGLWidget>
 #include <QKeyEvent>
@@ -311,11 +312,11 @@ void Application::paintGL() {
     } else if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) {
         _myCamera.setTightness(0.0f);  //  In first person, camera follows head exactly without delay
         _myCamera.setTargetPosition(_myAvatar.getBallPosition(AVATAR_JOINT_HEAD_BASE));
-        _myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
+        _myCamera.setTargetRotation(_myAvatar.getHead().getCameraOrientation(_headCameraPitchYawScale));
         
     } else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
         _myCamera.setTargetPosition(_myAvatar.getHeadJointPosition());
-        _myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
+        _myCamera.setTargetRotation(_myAvatar.getHead().getCameraOrientation(_headCameraPitchYawScale));
     }
     
     // Update camera position
@@ -1026,6 +1027,10 @@ void Application::editPreferences() {
     avatarURL->setMinimumWidth(400);
     form->addRow("Avatar URL:", avatarURL);
     
+    QDoubleSpinBox* headCameraPitchYawScale = new QDoubleSpinBox();
+    headCameraPitchYawScale->setValue(_headCameraPitchYawScale);
+    form->addRow("Head Camera Pitch/Yaw Scale:", headCameraPitchYawScale);
+    
     QDialogButtonBox* buttons = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
     dialog.connect(buttons, SIGNAL(accepted()), SLOT(accept()));
     dialog.connect(buttons, SIGNAL(rejected()), SLOT(reject()));
@@ -1038,6 +1043,8 @@ void Application::editPreferences() {
     _settings->setValue("avatarURL", url);
     _myAvatar.getVoxels()->setVoxelURL(url);
     sendAvatarVoxelURLMessage(url);
+    
+    _headCameraPitchYawScale = headCameraPitchYawScale->value();
 }
 
 void Application::pair() {
@@ -2537,15 +2544,19 @@ void Application::setAutosave(bool wantsAutosave) {
 void Application::loadSettings(QSettings* set) {
     if (!set) set = getSettings();
 
+    _headCameraPitchYawScale = set->value("headCameraPitchYawScale", 0.0f).toFloat();
     scanMenuBar(&Application::loadAction, set);
-    getAvatar()->loadData(set);
+    getAvatar()->loadData(set);    
 }
 
 void Application::saveSettings(QSettings* set) {
     if (!set) set = getSettings();
 
+    set->setValue("headCameraPitchYawScale", _headCameraPitchYawScale);
     scanMenuBar(&Application::saveAction, set);
     getAvatar()->saveData(set);
+    
+    set->sync();
 }
 
 void Application::importSettings() {

interface/src/Application.h

@@ -248,6 +248,7 @@ private:
     
     int _headMouseX, _headMouseY;
     bool _manualFirstPerson;
+    float _headCameraPitchYawScale;
     
     HandControl _handControl;
     

interface/src/Head.cpp

@@ -314,10 +314,10 @@ glm::quat Head::getOrientation() const {
         glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));
 }
 
-glm::quat Head::getWorldAlignedOrientation () const {
+glm::quat Head::getCameraOrientation (float pitchYawScale) const {
     Avatar* owningAvatar = static_cast<Avatar*>(_owningAvatar);
-    return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(_lookingInMirror ?
+    return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(glm::vec3(
-        glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));
+        _pitch * pitchYawScale, _yaw * pitchYawScale, 0.0f)));
 }
 
 void Head::renderHeadSphere() {

interface/src/Head.h

@@ -47,7 +47,7 @@ public:
     void setRenderLookatVectors(bool onOff ) { _renderLookatVectors = onOff; }
     
     glm::quat getOrientation() const;
-    glm::quat getWorldAlignedOrientation () const;
+    glm::quat getCameraOrientation (float pitchYawScale) const;
     
     glm::vec3 getRightDirection() const { return getOrientation() * IDENTITY_RIGHT; }
     glm::vec3 getUpDirection   () const { return getOrientation() * IDENTITY_UP;    }

interface/src/SerialInterface.cpp

@@ -264,7 +264,7 @@ void SerialInterface::readData(float deltaTime) {
                     1.0f / SENSOR_FUSION_SAMPLES);
                 
                 //  Without a compass heading, always decay estimated Yaw slightly
-                const float YAW_DECAY = 0.995;
+                const float YAW_DECAY = 0.999f;
                 glm::vec3 forward = estimatedRotation * glm::vec3(0.0f, 0.0f, -1.0f);
                 estimatedRotation = safeMix(glm::angleAxis(glm::degrees(atan2f(forward.x, -forward.z)),
                     glm::vec3(0.0f, 1.0f, 0.0f)) * estimatedRotation, estimatedRotation, YAW_DECAY);