orientation question

[whj]

Hello,

Generally I have two ways to control orientation. One is to turn the viewpoint with head, the code would be like:

rot_data = ppt.getEuler()
viz.reset(viz.HEAD_ORI)
viz.rotate(viz.HEAD_ORI, rot_data[0], rot_data[1], rot_data[2])

In this way, the direction I can see is also my moving direction.

The other is to turn the viewpoint with twist value of joystick, the code would be like:
if abs(joy_rot) > 0.2:
angle = ANIMATE_RATE * TURN_SPEED * joy_rot
viz.MainView.rotate(0, 1, 0, angle, viz.HEAD_ORI, viz.RELATIVE_WORLD)

In this way, I can not change orientation by rotating my head.


So my question is, is there any way that I can use the twist value of joystick to control the walking direction while I can still change orientation by rotating my head. In other words, I can use joystick to control navigation while feel free to look around.

Thanks!