HMD Steering works somehow

Assets/Scenes/MainScene.unity

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+        m_Texture: {fileID: 2800000, guid: 64e7766099ad46747a07014e44d0aea1, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    m_Floats:
+    - _BackgroundCat: 1
+    - _BackgroundCubemapSpace: 0
+    - _BackgroundExposure: 1
+    - _BackgroundMode: 0
+    - _Banner: 1
+    - _BumpScale: 1
+    - _CloudHeight: 0
+    - _CloudsCat: 1
+    - _CloudsHeight: 0.1
+    - _CloudsLitbySun: 1
+    - _CloudsRotation: 10
+    - _CloudsRotationSpeed: 1
+    - _Contrast: 0.477
+    - _Contrsat: 1
+    - _Cutoff: 0
+    - _DetailNormalMapScale: 1
+    - _DisableCloudsRotation: 0
+    - _DisableDirectionLight: 1
+    - _DisableRotation: 0
+    - _DstBlend: 0
+    - _Enable1Twinkling: 0
+    - _EnableBuiltinFog: 0
+    - _EnableClouds: 1
+    - _EnableCloudsRotation: 0
+    - _EnableDirectionLight: 1
+    - _EnableFogMessage: 0
+    - _EnableMoon: 0
+    - _EnablePatternOverlay: 0
+    - _EnableSkyPatternOverlay: 0
+    - _EnableStars: 0
+    - _EnableStarsRotation: 0
+    - _EnableStarsTwinkling: 0
+    - _EnableSun: 1
+    - _EnableSunMask: 0
+    - _EnableSunMoon: 1
+    - _EnableSunMoonMask: 1
+    - _EnableTwinkling: 0
+    - _EqHeight: 0.419
+    - _EquatorHeight: 0.275
+    - _EquatorSmoothness: 0.741
+    - _Exposure: 0
+    - _Fade: 0.463
+    - _Float0: 2.7
+    - _Float1: 0
+    - _Float2: 0
+    - _Float3: 8.91
+    - _Float4: -1
+    - _Float5: -0.2
+    - _Float6: 1
+    - _FogCat: 1
+    - _FogFill: 0.273
+    - _FogHeight: 0.165
+    - _FogIntensity: 0
+    - _FogSmoothness: 0.47
+    - _GlossMapScale: 1
+    - _Glossiness: 0.5
+    - _GlossyReflections: 1
+    - _Keyword0: 0
+    - _Metallic: 0
+    - _Mode: 0
+    - _MoonCat: 1
+    - _MoonIntensity: 1
+    - _MoonSize: 0.5
+    - _OcclusionStrength: 1
+    - _Parallax: 0.02
+    - _PatternCat: 1
+    - _PatternContrast: 0.2
+    - _RoatationSpeed: 0.4
+    - _Rotation: 0
+    - _RotationSpeed: 0.5
+    - _SkyPatternContrast: 0.477
+    - _SkyPatternOverlay: 0
+    - _SmoothnessTextureChannel: 0
+    - _SpecularHighlights: 1
+    - _SrcBlend: 1
+    - _StarsAmount: 3
+    - _StarsCat: 1
+    - _StarsHeightMask: 0
+    - _StarsIntensity: 0
+    - _StarsLayer: 1
+    - _StarsRotation: 360
+    - _StarsRotationSpeed: 0.5
+    - _StarsSize: 0
+    - _StarsSunMask: 0
+    - _SunCat: 1
+    - _SunIntensity: 2.33
+    - _SunRadiusB: 0
+    - _SunRadoisA: 0.463
+    - _SunSize: 0.864
+    - _ToggleSwitch0: 0
+    - _TwinklingContrast: 0
+    - _TwinklingSpeed: 0
+    - _UVSec: 0
+    - _UseCUBEMAP: 1
+    - _UseEnvironmentGradient: 1
+    - _UseSkyPatternOverlay: 0
+    - _UseTexture: 1
+    - _WaveScale: 0
+    - _WaveSpeed: 0
+    - _ZWrite: 1
+    - __dirty: 0
+    - _adf: 0
+    - _angle: 145
+    - _fresnell: 0
+    - _mip: 0
+    m_Colors:
+    - _CloudLightColor: {r: 1, g: 1, b: 1, a: 1}
+    - _CloudShadowColor: {r: 0.33239606, g: 0.46899295, b: 0.85294116, a: 1}
+    - _CloudsLightColor: {r: 0.9338235, g: 0.9338235, b: 0.9338235, a: 1}
+    - _CloudsShadowColor: {r: 0.4625865, g: 0.49787903, b: 0.9117647, a: 1}
+    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _Color0: {r: 0, g: 0.5054344, b: 1, a: 0}
+    - _Color1: {r: 1, g: 1, b: 1, a: 0}
+    - _Color2: {r: 0.059472326, g: 0.25068596, b: 0.8088235, a: 0}
+    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _Eq: {r: 1, g: 0.6769777, b: 0.330882, a: 0}
+    - _EquatorColor: {r: 1, g: 0.956522, b: 0.8632076, a: 0}
+    - _Ground: {r: 0.4779411, g: 0.43111518, b: 0.23545504, a: 0}
+    - _GroundColor: {r: 0.3679245, g: 0.3679245, b: 0.3679245, a: 0}
+    - _MoonColor: {r: 1, g: 1, b: 1, a: 1}
+    - _Sky: {r: 0.6691177, g: 0.29519898, b: 0.29519898, a: 0}
+    - _SkyColor: {r: 0.4462442, g: 0.5670902, b: 0.8679245, a: 0}
+    - _Skycol: {r: 0.27941146, g: 0.64219046, b: 1, a: 0}
+    - _SunColor: {r: 1, g: 0.85071, b: 0.66176474, a: 1}
+    - _Tint: {r: 1, g: 1, b: 1, a: 0}
+    - _Vector1: {r: 0, g: 1, b: 0, a: 0}
+    - _water: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_BuildTextureStacks: []
 --- !u!1001 &2079694863
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -2897538,6 +2897564,16 @@ PrefabInstance:
       propertyPath: steeringSelection
       value: 2
       objectReference: {fileID: 0}
+    - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
+        type: 3}
+      propertyPath: hmdTrackerConfig.cameraTracker
+      value: 
+      objectReference: {fileID: 17895368}
+    - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
+        type: 3}
+      propertyPath: hmdTrackerConfig.multiplicator
+      value: 0.75
+      objectReference: {fileID: 0}
     - target: {fileID: 653210788318262022, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: m_Enabled

Assets/Scripts/Controller/SensorBikeController.cs

@@ -17,12 +17,22 @@ namespace Controller
         public float AdjustedRotation => frontWheelTracker.SteerRotation * multiplicator;
     }
 
+    [Serializable]
+    public struct HMDTrackerConfig
+    {
+        public HMDTracker cameraTracker;
+        public float multiplicator;
+
+        public float AdjustedRotation => cameraTracker.SteerRotation * multiplicator;
+    }
+
     [RequireComponent(typeof(IBicycleController))]
     public class SensorBikeController : MonoBehaviour
     {
         public enum SteeringMode { frontWheel, Leaning, HMD };
         public PolarRotationMapping polarRotationMapping;
         public FrontWheelTrackerConfig frontWheelTrackerConfig;
+        public HMDTrackerConfig hmdTrackerConfig;
         private float leanFactor;
 
         public bool steer = true;
@@ -78,24 +88,21 @@ namespace Controller
                     // TODO: Convert steering relative to bike
                     Debug.Log("HMD Rotation " + player.transform.eulerAngles);
 
-                    //Stand 02Juni Lab:
-                    var rot = player.transform.rotation;
-                    var yaw = Mathf.Asin(2 * rot.x * rot.y + 2 * rot.z * rot.w);
-
                     //Lisa: 
-                    //var rot = player.transform.localRotation.eulerAngles.y; // https://answers.unity.com/questions/149801/transformrotation-in-degrees-instead-of-0-to-1.html
+                    //var rot = player.transform.localRotation.eulerAngles.z; // https://answers.unity.com/questions/149801/transformrotation-in-degrees-instead-of-0-to-1.html
                     //var yaw = rot *3f; // da kopfdrehung relativ gering im vergleich zu einer lenkraddrehung, faktor ggf. erhöhen
 
+                    Debug.Log("Local Euler Angles " + player.transform.localRotation.eulerAngles);
                     //Julia:
                     // https://wirewhiz.com/vr-body-tracking-tutorial-pt-1/
                     // Bestimme Winkel zwischen Kopf und Fahrrad
-                    //var rot_player = player.transform.rotation;
-                    //var rot_bike = GameObject.FindGameObjectWithTag("bike").transform.rotation;
-                    //var yaw = Quaternion.Angle(Quaternion.Euler(0, rot_bike.eulerAngles.y, 0),
-                    //    Quaternion.Euler(0, rot_player.eulerAngles.y, 0));
-
+                    /*var rot_player = player.transform.rotation;
+                    var rot_bike = GameObject.FindGameObjectWithTag("bike").transform.rotation;
+                    var yaw = Quaternion.Angle(Quaternion.Euler(0, rot_bike.eulerAngles.y, 0),
+                        Quaternion.Euler(0, rot_player.eulerAngles.y, 0));*/
 
-                    bicycleController.CurrentSteerAngle = yaw;
+                    //Debug.Log("Calculated Yaw " + yaw);
+                    bicycleController.CurrentSteerAngle = hmdTrackerConfig.AdjustedRotation - 5f;
                     break;
             }
             Debug.Log("Updating Steering Angle to " + bicycleController.CurrentSteerAngle);

Assets/Scripts/Tracking/HMDTracker.cs

@@ -0,0 +1,45 @@
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+namespace Tracking
+{
+
+    public class HMDTracker : CalibratableTracker
+    {
+        public int framesToConsider = 10;
+        public float SteerRotation => framesToConsider > 1
+            ? CalculateSteerRotationMultiFrame()
+            : CalculateSteerRotationSingleFrame();
+
+        protected override string KeyPrefix => "fw";
+        private Queue<float> previousValues;
+
+        private void OnEnable()
+        {
+            if (framesToConsider > 1) previousValues = new Queue<float>(framesToConsider);
+        }
+
+        /*private void OnGUI()
+        {
+            GUI.TextArea(new Rect(0, 400, 200, 90),
+                $"LeanRotation: {LeanRotation}\nRelativeRotation: {RelativeRotation}\nRelativePosition: {RelativePosition}");
+        }*/
+
+        private float CalculateSteerRotationSingleFrame()
+        {
+            return RelativeRotation.y;
+        }
+
+        private float CalculateSteerRotationMultiFrame()
+        {
+            var angleThisFrame = CalculateSteerRotationSingleFrame();
+            if (previousValues.Count > framesToConsider) previousValues.Dequeue();
+
+            previousValues.Enqueue(angleThisFrame);
+
+            //easiest way -> avg; TODO maybe in future, remove outliers
+            return previousValues.Average();
+        }
+    }
+}