logic: change relative translation triggering

Relative translation mode now has three states:

- disabled
- always enabled
- enabled when not aiming

In the third mode, looking very close to center disables reltrans. The
exact values aren't final.

7 files changed, 178 insertions, 75 deletions

diff --git a/gui/settings-dialog.ui b/gui/settings-dialog.ui
index 363edb3a..20a1b524 100644
--- a/gui/settings-dialog.ui
+++ b/gui/settings-dialog.ui
@@ -1785,13 +1785,47 @@
            </widget>
           </item>
           <item>
-           <widget class="QCheckBox" name="tcomp_enable">
-            <property name="styleSheet">
-             <string notr="true"/>
-            </property>
-            <property name="text">
-             <string>Enable</string>
-            </property>
+           <widget class="QWidget" name="widget" native="true">
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <item>
+              <widget class="QLabel" name="label_17">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                 <horstretch>10</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>Mode</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QComboBox" name="reltrans_mode">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                 <horstretch>4</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <item>
+                <property name="text">
+                 <string>Disabled</string>
+                </property>
+               </item>
+               <item>
+                <property name="text">
+                 <string>Enabled</string>
+                </property>
+               </item>
+               <item>
+                <property name="text">
+                 <string>Enabled when not aiming</string>
+                </property>
+               </item>
+              </widget>
+             </item>
+            </layout>
            </widget>
           </item>
           <item>
@@ -1825,7 +1859,7 @@
               <number>0</number>
              </property>
              <item row="2" column="0">
-              <widget class="QCheckBox" name="tcomp_tx_disable">
+              <widget class="QCheckBox" name="tcomp_ty_disable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
                  <horstretch>3</horstretch>
@@ -1836,12 +1870,12 @@
                 <string notr="true"/>
                </property>
                <property name="text">
-                <string>Disable for X</string>
+                <string>Disable for Y</string>
                </property>
               </widget>
              </item>
-             <item row="3" column="0">
-              <widget class="QCheckBox" name="tcomp_ty_disable">
+             <item row="1" column="0">
+              <widget class="QCheckBox" name="tcomp_tx_disable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
                  <horstretch>3</horstretch>
@@ -1852,40 +1886,40 @@
                 <string notr="true"/>
                </property>
                <property name="text">
-                <string>Disable for Y</string>
+                <string>Disable for X</string>
                </property>
               </widget>
              </item>
-             <item row="4" column="0">
-              <widget class="QCheckBox" name="tcomp_tz_disable">
+             <item row="3" column="1">
+              <widget class="QCheckBox" name="tcomp_src_roll_disable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
-                 <horstretch>3</horstretch>
+                 <horstretch>2</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
-               <property name="styleSheet">
-                <string notr="true"/>
-               </property>
                <property name="text">
-                <string>Disable for Z (for zoom on Z axis)</string>
+                <string>Disable effect by roll</string>
                </property>
               </widget>
              </item>
-             <item row="2" column="1">
-              <widget class="QCheckBox" name="tcomp_src_yaw_disable">
+             <item row="3" column="0">
+              <widget class="QCheckBox" name="tcomp_tz_disable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
-                 <horstretch>2</horstretch>
+                 <horstretch>3</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
+               <property name="styleSheet">
+                <string notr="true"/>
+               </property>
                <property name="text">
-                <string>Disable effect by yaw</string>
+                <string>Disable for Z (for zoom on Z axis)</string>
                </property>
               </widget>
              </item>
-             <item row="3" column="1">
+             <item row="2" column="1">
               <widget class="QCheckBox" name="tcomp_src_pitch_disable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
@@ -1898,8 +1932,8 @@
                </property>
               </widget>
              </item>
-             <item row="4" column="1">
-              <widget class="QCheckBox" name="tcomp_src_roll_disable">
+             <item row="1" column="1">
+              <widget class="QCheckBox" name="tcomp_src_yaw_disable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
                  <horstretch>2</horstretch>
@@ -1907,7 +1941,7 @@
                 </sizepolicy>
                </property>
                <property name="text">
-                <string>Disable effect by roll</string>
+                <string>Disable effect by yaw</string>
                </property>
               </widget>
              </item>
@@ -2147,7 +2181,6 @@
   <tabstop>src_z</tabstop>
   <tabstop>invert_z</tabstop>
   <tabstop>tracklogging_enabled</tabstop>
-  <tabstop>tcomp_enable</tabstop>
   <tabstop>tcomp_tx_disable</tabstop>
   <tabstop>tcomp_ty_disable</tabstop>
   <tabstop>tcomp_tz_disable</tabstop>
diff --git a/gui/settings.cpp b/gui/settings.cpp
index fe0b3261..fc7cde19 100644
--- a/gui/settings.cpp
+++ b/gui/settings.cpp
@@ -54,15 +54,24 @@ options_dialog::options_dialog(std::function<void(bool)> pause_keybindings) :
 
     tie_setting(main.center_at_startup, ui.center_at_startup);
 
-    tie_setting(main.tcomp_p, ui.tcomp_enable);
+    const reltrans_state reltrans_modes[] = {
+        reltrans_disabled,
+        reltrans_enabled,
+        reltrans_non_center,
+    };
+
+    for (unsigned k = 0; k < 3; k++)
+        ui.reltrans_mode->setItemData(k, int(reltrans_modes[k]));
+
+    tie_setting(main.reltrans_mode, ui.reltrans_mode);
 
-    tie_setting(main.tcomp_disable_tx, ui.tcomp_tx_disable);
-    tie_setting(main.tcomp_disable_ty, ui.tcomp_ty_disable);
-    tie_setting(main.tcomp_disable_tz, ui.tcomp_tz_disable);
+    tie_setting(main.reltrans_disable_tx, ui.tcomp_tx_disable);
+    tie_setting(main.reltrans_disable_ty, ui.tcomp_ty_disable);
+    tie_setting(main.reltrans_disable_tz, ui.tcomp_tz_disable);
 
-    tie_setting(main.tcomp_disable_src_yaw, ui.tcomp_src_yaw_disable);
-    tie_setting(main.tcomp_disable_src_pitch, ui.tcomp_src_pitch_disable);
-    tie_setting(main.tcomp_disable_src_roll, ui.tcomp_src_roll_disable);
+    tie_setting(main.reltrans_disable_src_yaw, ui.tcomp_src_yaw_disable);
+    tie_setting(main.reltrans_disable_src_pitch, ui.tcomp_src_pitch_disable);
+    tie_setting(main.reltrans_disable_src_roll, ui.tcomp_src_roll_disable);
 
     tie_setting(main.neck_z, ui.neck_z);
 
diff --git a/logic/main-settings.cpp b/logic/main-settings.cpp
index 2c5d45db..c735ac6e 100644
--- a/logic/main-settings.cpp
+++ b/logic/main-settings.cpp
@@ -12,13 +12,12 @@ main_settings::main_settings() :
     a_pitch("pitch", Pitch),
     a_roll("roll", Roll),
     all_axis_opts { &a_x, &a_y, &a_z, &a_yaw, &a_pitch, &a_roll },
-    tcomp_p(b, "compensate-translation", false),
-    tcomp_disable_tx(b, "compensate-translation-disable-x-axis", false),
-    tcomp_disable_ty(b, "compensate-translation-disable-y-axis", false),
-    tcomp_disable_tz(b, "compensate-translation-disable-z-axis", false),
-    tcomp_disable_src_yaw(b, "compensate-translation-disable-source-yaw", false),
-    tcomp_disable_src_pitch(b, "compensate-translation-disable-source-pitch", false),
-    tcomp_disable_src_roll(b, "compensate-translation-disable-source-roll", false),
+    reltrans_disable_tx(b, "compensate-translation-disable-x-axis", false),
+    reltrans_disable_ty(b, "compensate-translation-disable-y-axis", false),
+    reltrans_disable_tz(b, "compensate-translation-disable-z-axis", false),
+    reltrans_disable_src_yaw(b, "compensate-translation-disable-source-yaw", false),
+    reltrans_disable_src_pitch(b, "compensate-translation-disable-source-pitch", false),
+    reltrans_disable_src_roll(b, "compensate-translation-disable-source-roll", false),
     tray_enabled(b, "use-system-tray", false),
     tray_start(b, "start-in-tray", false),
     center_at_startup(b, "center-at-startup", true),
diff --git a/logic/main-settings.hpp b/logic/main-settings.hpp
index 00fbe9cc..df86f856 100644
--- a/logic/main-settings.hpp
+++ b/logic/main-settings.hpp
@@ -15,6 +15,13 @@
 
 #include "export.hpp"
 
+enum reltrans_state
+{
+    reltrans_disabled   = 0,
+    reltrans_enabled    = 1,
+    reltrans_non_center = 2,
+};
+
 namespace main_settings_impl {
 
 using namespace options;
@@ -40,8 +47,9 @@ struct OTR_LOGIC_EXPORT main_settings final
     axis_opts a_x, a_y, a_z;
     axis_opts a_yaw, a_pitch, a_roll;
     axis_opts* all_axis_opts[6];
-    value<bool> tcomp_p, tcomp_disable_tx, tcomp_disable_ty, tcomp_disable_tz;
-    value<bool> tcomp_disable_src_yaw, tcomp_disable_src_pitch, tcomp_disable_src_roll;
+    value<reltrans_state> reltrans_mode { b, "relative-translation-mode", reltrans_disabled };
+    value<bool> reltrans_disable_tx, reltrans_disable_ty, reltrans_disable_tz;
+    value<bool> reltrans_disable_src_yaw, reltrans_disable_src_pitch, reltrans_disable_src_roll;
     value<bool> tray_enabled, tray_start;
     value<bool> center_at_startup;
     //value<int> center_method;
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index de7d94e6..e6ca3b70 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -15,6 +15,7 @@
 #include "compat/nan.hpp"
 #include "compat/sleep.hpp"
 #include "compat/math.hpp"
+#include "compat/meta.hpp"
 
 #include "pipeline.hpp"
 
@@ -64,29 +65,38 @@ euler_t reltrans::rotate(const rmat& rmat, const euler_t& xyz,
     return output;
 }
 
-Pose reltrans::apply_pipeline(bool enable, const Pose& value, const Mat<bool, 6, 1>& disable)
+Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, const Mat<bool, 6, 1>& disable)
 {
-    if (enable)
+    if (state != reltrans_disabled)
     {
         euler_t rel { value(TX), value(TY), value(TZ) };
 
         {
-            const bool yaw_in_zone = std::fabs(value(Yaw)) > 135;
-            const bool pitch_in_zone = value(Pitch) < -30;
-            const bool tcomp_in_zone_ = yaw_in_zone || pitch_in_zone;
+            bool tcomp_in_zone_ = progn(
+                if (state == reltrans_non_center)
+                {
+                    const bool yaw_in_zone = std::fabs(value(Yaw)) < 12;
+                    const bool pitch_in_zone = std::fabs(value(Pitch)) < 15;
+                    const bool roll_in_zone = std::fabs(value(Roll)) < 7;
+
+                    return !(yaw_in_zone && pitch_in_zone && roll_in_zone);
+                }
+                else
+                    return true;
+            );
 
-            if (!tcomp_state && tcomp_in_zone != tcomp_in_zone_)
+            if (!cur && in_zone != tcomp_in_zone_)
             {
-                //qDebug() << "tcomp-interp: START";
-                tcomp_state = true;
-                tcomp_interp_timer.start();
+                //qDebug() << "reltrans-interp: START" << tcomp_in_zone_;
+                cur = true;
+                interp_timer.start();
             }
 
-            tcomp_in_zone = tcomp_in_zone_;
+            in_zone = tcomp_in_zone_;
         }
 
         // only when looking behind or downward
-        if (tcomp_in_zone)
+        if (in_zone)
         {
             const double tcomp_c[] = {
                 double(!disable(Yaw)),
@@ -105,41 +115,41 @@ Pose reltrans::apply_pipeline(bool enable, const Pose& value, const Mat<bool, 6,
                          disable(TZ));
         }
 
-        if (tcomp_state)
+        if (cur)
         {
-            const double dt = tcomp_interp_timer.elapsed_seconds();
-            tcomp_interp_timer.start();
+            const double dt = interp_timer.elapsed_seconds();
+            interp_timer.start();
 
             constexpr double RC = .1;
             const double alpha = dt/(dt+RC);
 
             constexpr double eps = .05;
 
-            tcomp_interp_pos = tcomp_interp_pos * (1-alpha) + rel * alpha;
+            interp_pos = interp_pos * (1-alpha) + rel * alpha;
 
-            const euler_t tmp = rel - tcomp_interp_pos;
-            rel = tcomp_interp_pos;
+            const euler_t tmp = rel - interp_pos;
+            rel = interp_pos;
             const double delta = std::fabs(tmp(0)) + std::fabs(tmp(0)) + std::fabs(tmp(0));
 
-            //qDebug() << "tcomp-interp: delta" << delta;
+            //qDebug() << "reltrans-interp: delta" << delta;
 
             if (delta < eps)
             {
-                //qDebug() << "tcomp-interp: STOP";
-                tcomp_state = false;
+                //qDebug() << "reltrans-interp: STOP";
+                cur = false;
             }
         }
         else
         {
-            tcomp_interp_pos = rel;
+            interp_pos = rel;
         }
 
         return { rel(0), rel(1), rel(2), value(Yaw), value(Pitch), value(Roll) };
     }
     else
     {
-        tcomp_state = false;
-        tcomp_in_zone = false;
+        cur = false;
+        in_zone = false;
 
         return value;
     }
@@ -403,9 +413,9 @@ void pipeline::logic()
 
             nan_check(value);
 
-            value = rel.apply_pipeline(s.tcomp_p, value, {
-                !!s.tcomp_disable_src_yaw, !!s.tcomp_disable_src_pitch, !!s.tcomp_disable_src_roll,
-                !!s.tcomp_disable_tx, !!s.tcomp_disable_ty, !!s.tcomp_disable_tz
+            value = rel.apply_pipeline(s.reltrans_mode, value, {
+                !!s.reltrans_disable_src_yaw, !!s.reltrans_disable_src_pitch, !!s.reltrans_disable_src_roll,
+                !!s.reltrans_disable_tx, !!s.reltrans_disable_ty, !!s.reltrans_disable_tz
             });
 
             for (int i = 0; i < 3; i++)
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index dc04d44b..0061e439 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -37,10 +37,10 @@ using euler_t = euler::euler_t;
 
 class reltrans
 {
-    euler_t tcomp_interp_pos, tcomp_last_value;
-    Timer tcomp_interp_timer;
-    bool tcomp_state = false;
-    bool tcomp_in_zone = false;
+    euler_t interp_pos, last_value;
+    Timer interp_timer;
+    bool cur = false;
+    bool in_zone = false;
 
 public:
     reltrans();
@@ -50,7 +50,7 @@ public:
                    bool disable_tx, bool disable_ty, bool disable_tz) const;
 
     warn_result_unused
-    Pose apply_pipeline(bool enable, const Pose& value, const Mat<bool, 6, 1>& disable);
+    Pose apply_pipeline(reltrans_state cur, const Pose& value, const Mat<bool, 6, 1>& disable);
 };
 
 using namespace time_units;
diff --git a/migration/20180118_00-reltrans.cpp b/migration/20180118_00-reltrans.cpp
new file mode 100644
index 00000000..ba35e7f0
--- /dev/null
+++ b/migration/20180118_00-reltrans.cpp
@@ -0,0 +1,44 @@
+#include "migration.hpp"
+#include "options/options.hpp"
+
+using namespace options;
+using namespace migrations;
+
+enum reltrans_state
+{
+    reltrans_disabled   = 0,
+    reltrans_enabled    = 1,
+    reltrans_non_center = 2,
+};
+
+static const char* old_name = "compensate-translation";
+static const char* new_name = "relative-translation-mode";
+
+struct reltrans_enum : migration
+{
+    QString unique_date() const override
+    {
+        return "20180118_00";
+    }
+
+    QString name() const override
+    {
+        return "reltrans modes";
+    }
+
+    bool should_run() const override
+    {
+        auto b = make_bundle("opentrack-ui");
+        return b->contains(old_name) && !b->contains(new_name);
+    }
+
+    void run() override
+    {
+        auto b = make_bundle("opentrack-ui");
+        bool value = b->get<bool>(old_name);
+        b->store_kv(new_name, int(value ? reltrans_enabled : reltrans_disabled));
+        b->save();
+    }
+};
+
+OPENTRACK_MIGRATION(reltrans_enum);