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Code Issues 157 Packages Projects Releases Wiki Activity

Update spotless and ktlint (#1528)

Browse Source 
Co-authored-by: Butterscotch! <bscotchvanilla@gmail.com>
Co-authored-by: loucass003 <loucass003@gmail.com>
This commit is contained in:
Uriel
2025-11-03 14:52:58 -03:00
committed by GitHub
parent 7180f4eaa7
commit 0df8b938d8
47 changed files with 445 additions and 362 deletions
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2
gradle.properties
View File

@@ -14,7 +14,7 @@ android.nonTransitiveRClass=true
org.gradle.unsafe.configuration-cache=false
kotlinVersion=2.0.20
spotlessVersion=7.0.2
spotlessVersion=8.0.0
shadowJarVersion=8.3.2
buildconfigVersion=5.5.0
grgitVersion=5.2.2

BIN
gradle/wrapper/gradle-wrapper.jar vendored
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Binary file not shown.

4
gradle/wrapper/gradle-wrapper.properties vendored
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@@ -1,6 +1,8 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.1-bin.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
distributionSha256Sum=bd71102213493060956ec229d946beee57158dbd89d0e62b91bca0fa2c5f3531
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists

34
gradlew vendored
View File

@@ -15,6 +15,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
@@ -55,7 +57,7 @@
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
@@ -83,10 +85,9 @@ done
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -133,10 +134,13 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
@@ -144,7 +148,7 @@ if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC3045
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
@@ -152,7 +156,7 @@ if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC3045
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -197,11 +201,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \

22
gradlew.bat vendored
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@@ -13,6 +13,8 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@rem SPDX-License-Identifier: Apache-2.0
@rem
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail

6
server/build.gradle.kts
View File

@@ -43,7 +43,7 @@ configure<com.diffplug.gradle.spotless.SpotlessExtension> {
",solarxr_protocol.rpc.*,kotlinx.coroutines.*,com.illposed.osc.*,android.app.*",
"ij_kotlin_allow_trailing_comma" to true,
)
val ktlintVersion = "1.2.1"
val ktlintVersion = "1.7.1"
kotlinGradle {
target("**/*.gradle.kts") // default target for kotlinGradle
ktlint(ktlintVersion)
@@ -61,8 +61,8 @@ configure<com.diffplug.gradle.spotless.SpotlessExtension> {
removeUnusedImports()
// Use eclipse JDT formatter
eclipse()
eclipse("4.36")
.configFile("spotless.xml")
.withP2Mirrors(mapOf("https://download.eclipse.org/" to "https://mirror.umd.edu/eclipse/"))
// .withP2Mirrors(mapOf("https://download.eclipse.org/" to "https://mirror.umd.edu/eclipse/"))
}
}

14
server/core/src/main/java/com/jme3/math/FastMath.kt
View File

@@ -455,13 +455,17 @@ object FastMath {
val det13 = m21 * m33 - m23 * m31
val det23 = m22 * m33 - m23 * m32
return (
m00 * (m11 * det23 - m12 * det13 + m13 * det12) -
m00 *
(m11 * det23 - m12 * det13 + m13 * det12) -
m01
* (m10 * det23 - m12 * det03 + m13 * det02) +
*
(m10 * det23 - m12 * det03 + m13 * det02) +
m02
* (m10 * det13 - m11 * det03 + m13 * det01) -
*
(m10 * det13 - m11 * det03 + m13 * det01) -
m03
* (m10 * det12 - m11 * det02 + m12 * det01)
*
(m10 * det12 - m11 * det02 + m12 * det01)
).toFloat()
}
@@ -606,7 +610,7 @@ object FastMath {
*
* Source:
* [
* http://www.fox-toolkit.org/ftp/fasthalffloatconversion.pdf](http://www.fox-toolkit.org/ftp/fasthalffloatconversion.pdf)<br></br>
* http://www.fox-toolkit.org/ftp/fasthalffloatconversion.pdf](http://www.fox-toolkit.org/ftp/fasthalffloatconversion.pdf)<br></br>
* **broken link**
*
* @param half The half floating point value as a short.

1
server/core/src/main/java/dev/slimevr/autobone/errors/BodyProportionError.kt
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@@ -42,6 +42,7 @@ class BodyProportionError : IAutoBoneError {
// "Expected" are values from Drillis and Contini (1966)
// Default are values from experimentation by the SlimeVR community
/**
* Proportions are based off the headset height (or eye height), not the total height of the user.
* To use the total height of the user, multiply it by [eyeHeightToHeightRatio] and use that in the limiters.

3
server/core/src/main/java/dev/slimevr/autobone/errors/SlideError.kt
View File

@@ -20,7 +20,8 @@ class SlideError : IAutoBoneError {
return (
getSlideError(skeleton1, skeleton2, BoneType.LEFT_LOWER_LEG) +
getSlideError(skeleton1, skeleton2, BoneType.RIGHT_LOWER_LEG)
) / 2f
) /
2f
}
fun getSlideError(

42
server/core/src/main/java/dev/slimevr/math/Angle.kt
View File

@@ -11,52 +11,38 @@ import kotlin.math.*
@JvmInline
value class Angle(private val rad: Float) {
fun toRad() =
rad
fun toRad() = rad
fun toDeg() =
rad * FastMath.RAD_TO_DEG
fun toDeg() = rad * FastMath.RAD_TO_DEG
operator fun unaryPlus() =
this
operator fun unaryPlus() = this
operator fun unaryMinus() =
Angle(normalize(-rad))
operator fun unaryMinus() = Angle(normalize(-rad))
operator fun plus(other: Angle) =
Angle(normalize(rad + other.rad))
operator fun plus(other: Angle) = Angle(normalize(rad + other.rad))
operator fun minus(other: Angle) =
Angle(normalize(rad - other.rad))
operator fun minus(other: Angle) = Angle(normalize(rad - other.rad))
operator fun times(scale: Float) =
Angle(normalize(rad * scale))
operator fun times(scale: Float) = Angle(normalize(rad * scale))
operator fun div(scale: Float) =
Angle(normalize(rad / scale))
operator fun div(scale: Float) = Angle(normalize(rad / scale))
operator fun compareTo(other: Angle) =
rad.compareTo(other.rad)
operator fun compareTo(other: Angle) = rad.compareTo(other.rad)
override fun toString() =
"${toDeg()} deg"
override fun toString() = "${toDeg()} deg"
companion object {
val ZERO = Angle(0.0f)
fun ofRad(rad: Float) =
Angle(normalize(rad))
fun ofRad(rad: Float) = Angle(normalize(rad))
fun ofDeg(deg: Float) =
Angle(normalize(deg * FastMath.DEG_TO_RAD))
fun ofDeg(deg: Float) = Angle(normalize(deg * FastMath.DEG_TO_RAD))
// Angle between two vectors
fun absBetween(a: Vector3, b: Vector3) =
Angle(normalize(a.angleTo(b)))
fun absBetween(a: Vector3, b: Vector3) = Angle(normalize(a.angleTo(b)))
// Angle between two rotations in rotation space
fun absBetween(a: Quaternion, b: Quaternion) =
Angle(normalize(a.angleToR(b)))
fun absBetween(a: Quaternion, b: Quaternion) = Angle(normalize(a.angleToR(b)))
/**
* Normalizes an angle to [-PI, PI)

14
server/core/src/main/java/dev/slimevr/math/AngleAverage.kt
View File

@@ -23,16 +23,14 @@ class AngleAverage {
/**
* Gets the average angle.
*/
fun toAngle(): Angle =
if (isEmpty()) {
Angle.ZERO
} else {
Angle.ofRad(atan2(sumY, sumX))
}
fun toAngle(): Angle = if (isEmpty()) {
Angle.ZERO
} else {
Angle.ofRad(atan2(sumY, sumX))
}
/**
* Whether there are any angles to average.
*/
fun isEmpty() =
sumX == 0.0f && sumY == 0.0f
fun isEmpty() = sumX == 0.0f && sumY == 0.0f
}

3
server/core/src/main/java/dev/slimevr/math/AngleErrors.kt
View File

@@ -10,6 +10,5 @@ class AngleErrors {
sumSqrErrors += error.toRad() * error.toRad()
}
fun toL2Norm() =
Angle.ofRad(sqrt(sumSqrErrors))
fun toL2Norm() = Angle.ofRad(sqrt(sumSqrErrors))
}

6
server/core/src/main/java/dev/slimevr/osc/UnityArmature.kt
View File

@@ -216,7 +216,8 @@ class UnityArmature(localRot: Boolean) {
val hipsAverage = (
leftHipNode.worldTransform.translation +
rightHipNode.worldTransform.translation
) * 0.5f
) *
0.5f
node.worldTransform.translation * 2f - hipsAverage + rootPosition
} else {
node.worldTransform.translation + rootPosition
@@ -233,7 +234,8 @@ class UnityArmature(localRot: Boolean) {
val hipsAverage = (
leftHipNode.worldTransform.translation +
rightHipNode.worldTransform.translation
) * 0.5f
) *
0.5f
node.worldTransform.translation * 2f - hipsAverage + rootPosition
} else {
node.localTransform.translation

104
server/core/src/main/java/dev/slimevr/osc/UnityBone.kt
View File

@@ -244,51 +244,103 @@ enum class UnityBone(
/**
* Returns true if the bone is part of the left arm (incl. fingers, excl. shoulder)
*/
fun isLeftArmBone(bone: UnityBone): Boolean = bone == LEFT_UPPER_ARM || bone == LEFT_LOWER_ARM || bone == LEFT_HAND ||
bone == LEFT_THUMB_PROXIMAL || bone == LEFT_THUMB_INTERMEDIATE || bone == LEFT_THUMB_DISTAL ||
bone == LEFT_INDEX_PROXIMAL || bone == LEFT_INDEX_INTERMEDIATE || bone == LEFT_INDEX_DISTAL ||
bone == LEFT_MIDDLE_PROXIMAL || bone == LEFT_MIDDLE_INTERMEDIATE || bone == LEFT_MIDDLE_DISTAL ||
bone == LEFT_RING_PROXIMAL || bone == LEFT_RING_INTERMEDIATE || bone == LEFT_RING_DISTAL ||
bone == LEFT_LITTLE_PROXIMAL || bone == LEFT_LITTLE_INTERMEDIATE || bone == LEFT_LITTLE_DISTAL
fun isLeftArmBone(bone: UnityBone): Boolean = bone == LEFT_UPPER_ARM ||
bone == LEFT_LOWER_ARM ||
bone == LEFT_HAND ||
bone == LEFT_THUMB_PROXIMAL ||
bone == LEFT_THUMB_INTERMEDIATE ||
bone == LEFT_THUMB_DISTAL ||
bone == LEFT_INDEX_PROXIMAL ||
bone == LEFT_INDEX_INTERMEDIATE ||
bone == LEFT_INDEX_DISTAL ||
bone == LEFT_MIDDLE_PROXIMAL ||
bone == LEFT_MIDDLE_INTERMEDIATE ||
bone == LEFT_MIDDLE_DISTAL ||
bone == LEFT_RING_PROXIMAL ||
bone == LEFT_RING_INTERMEDIATE ||
bone == LEFT_RING_DISTAL ||
bone == LEFT_LITTLE_PROXIMAL ||
bone == LEFT_LITTLE_INTERMEDIATE ||
bone == LEFT_LITTLE_DISTAL
/**
* Returns true if the bone is part of the right arm (incl. fingers, excl. shoulder)
*/
fun isRightArmBone(bone: UnityBone): Boolean = bone == RIGHT_UPPER_ARM || bone == RIGHT_LOWER_ARM || bone == RIGHT_HAND ||
bone == RIGHT_THUMB_PROXIMAL || bone == RIGHT_THUMB_INTERMEDIATE || bone == RIGHT_THUMB_DISTAL ||
bone == RIGHT_INDEX_PROXIMAL || bone == RIGHT_INDEX_INTERMEDIATE || bone == RIGHT_INDEX_DISTAL ||
bone == RIGHT_MIDDLE_PROXIMAL || bone == RIGHT_MIDDLE_INTERMEDIATE || bone == RIGHT_MIDDLE_DISTAL ||
bone == RIGHT_RING_PROXIMAL || bone == RIGHT_RING_INTERMEDIATE || bone == RIGHT_RING_DISTAL ||
bone == RIGHT_LITTLE_PROXIMAL || bone == RIGHT_LITTLE_INTERMEDIATE || bone == RIGHT_LITTLE_DISTAL
fun isRightArmBone(bone: UnityBone): Boolean = bone == RIGHT_UPPER_ARM ||
bone == RIGHT_LOWER_ARM ||
bone == RIGHT_HAND ||
bone == RIGHT_THUMB_PROXIMAL ||
bone == RIGHT_THUMB_INTERMEDIATE ||
bone == RIGHT_THUMB_DISTAL ||
bone == RIGHT_INDEX_PROXIMAL ||
bone == RIGHT_INDEX_INTERMEDIATE ||
bone == RIGHT_INDEX_DISTAL ||
bone == RIGHT_MIDDLE_PROXIMAL ||
bone == RIGHT_MIDDLE_INTERMEDIATE ||
bone == RIGHT_MIDDLE_DISTAL ||
bone == RIGHT_RING_PROXIMAL ||
bone == RIGHT_RING_INTERMEDIATE ||
bone == RIGHT_RING_DISTAL ||
bone == RIGHT_LITTLE_PROXIMAL ||
bone == RIGHT_LITTLE_INTERMEDIATE ||
bone == RIGHT_LITTLE_DISTAL
/**
* Returns true if the bone is the left upper arm or proximal left finger bone
*/
fun isLeftStartOfArmOrFingerBone(bone: UnityBone): Boolean = bone == LEFT_UPPER_ARM || bone == LEFT_THUMB_PROXIMAL ||
bone == LEFT_INDEX_PROXIMAL || bone == LEFT_MIDDLE_PROXIMAL || bone == LEFT_RING_PROXIMAL || bone == LEFT_LITTLE_PROXIMAL
fun isLeftStartOfArmOrFingerBone(bone: UnityBone): Boolean = bone == LEFT_UPPER_ARM ||
bone == LEFT_THUMB_PROXIMAL ||
bone == LEFT_INDEX_PROXIMAL ||
bone == LEFT_MIDDLE_PROXIMAL ||
bone == LEFT_RING_PROXIMAL ||
bone == LEFT_LITTLE_PROXIMAL
/**
* Returns true if the bone is the right upper arm or proximal right finger bone
*/
fun isRightStartOfArmOrFingerBone(bone: UnityBone): Boolean = bone == RIGHT_UPPER_ARM || bone == RIGHT_THUMB_PROXIMAL ||
bone == RIGHT_INDEX_PROXIMAL || bone == RIGHT_MIDDLE_PROXIMAL || bone == RIGHT_RING_PROXIMAL || bone == RIGHT_LITTLE_PROXIMAL
fun isRightStartOfArmOrFingerBone(bone: UnityBone): Boolean = bone == RIGHT_UPPER_ARM ||
bone == RIGHT_THUMB_PROXIMAL ||
bone == RIGHT_INDEX_PROXIMAL ||
bone == RIGHT_MIDDLE_PROXIMAL ||
bone == RIGHT_RING_PROXIMAL ||
bone == RIGHT_LITTLE_PROXIMAL
/**
* Returns true if the bone is part of the left fingers
*/
fun isLeftFingerBone(bone: UnityBone): Boolean = bone == LEFT_THUMB_PROXIMAL || bone == LEFT_THUMB_INTERMEDIATE || bone == LEFT_THUMB_DISTAL ||
bone == LEFT_INDEX_PROXIMAL || bone == LEFT_INDEX_INTERMEDIATE || bone == LEFT_INDEX_DISTAL ||
bone == LEFT_MIDDLE_PROXIMAL || bone == LEFT_MIDDLE_INTERMEDIATE || bone == LEFT_MIDDLE_DISTAL ||
bone == LEFT_RING_PROXIMAL || bone == LEFT_RING_INTERMEDIATE || bone == LEFT_RING_DISTAL ||
bone == LEFT_LITTLE_PROXIMAL || bone == LEFT_LITTLE_INTERMEDIATE || bone == LEFT_LITTLE_DISTAL
fun isLeftFingerBone(bone: UnityBone): Boolean = bone == LEFT_THUMB_PROXIMAL ||
bone == LEFT_THUMB_INTERMEDIATE ||
bone == LEFT_THUMB_DISTAL ||
bone == LEFT_INDEX_PROXIMAL ||
bone == LEFT_INDEX_INTERMEDIATE ||
bone == LEFT_INDEX_DISTAL ||
bone == LEFT_MIDDLE_PROXIMAL ||
bone == LEFT_MIDDLE_INTERMEDIATE ||
bone == LEFT_MIDDLE_DISTAL ||
bone == LEFT_RING_PROXIMAL ||
bone == LEFT_RING_INTERMEDIATE ||
bone == LEFT_RING_DISTAL ||
bone == LEFT_LITTLE_PROXIMAL ||
bone == LEFT_LITTLE_INTERMEDIATE ||
bone == LEFT_LITTLE_DISTAL
/**
* Returns true if the bone part of the right fingers
*/
fun isRightFingerBone(bone: UnityBone): Boolean = bone == RIGHT_THUMB_PROXIMAL || bone == RIGHT_THUMB_INTERMEDIATE || bone == RIGHT_THUMB_DISTAL ||
bone == RIGHT_INDEX_PROXIMAL || bone == RIGHT_INDEX_INTERMEDIATE || bone == RIGHT_INDEX_DISTAL ||
bone == RIGHT_MIDDLE_PROXIMAL || bone == RIGHT_MIDDLE_INTERMEDIATE || bone == RIGHT_MIDDLE_DISTAL ||
bone == RIGHT_RING_PROXIMAL || bone == RIGHT_RING_INTERMEDIATE || bone == RIGHT_RING_DISTAL ||
bone == RIGHT_LITTLE_PROXIMAL || bone == RIGHT_LITTLE_INTERMEDIATE || bone == RIGHT_LITTLE_DISTAL
fun isRightFingerBone(bone: UnityBone): Boolean = bone == RIGHT_THUMB_PROXIMAL ||
bone == RIGHT_THUMB_INTERMEDIATE ||
bone == RIGHT_THUMB_DISTAL ||
bone == RIGHT_INDEX_PROXIMAL ||
bone == RIGHT_INDEX_INTERMEDIATE ||
bone == RIGHT_INDEX_DISTAL ||
bone == RIGHT_MIDDLE_PROXIMAL ||
bone == RIGHT_MIDDLE_INTERMEDIATE ||
bone == RIGHT_MIDDLE_DISTAL ||
bone == RIGHT_RING_PROXIMAL ||
bone == RIGHT_RING_INTERMEDIATE ||
bone == RIGHT_RING_DISTAL ||
bone == RIGHT_LITTLE_PROXIMAL ||
bone == RIGHT_LITTLE_INTERMEDIATE ||
bone == RIGHT_LITTLE_DISTAL
}
}

3
server/core/src/main/java/dev/slimevr/osc/VMCHandler.kt
View File

@@ -428,8 +428,7 @@ class VMCHandler(
val role = tracker.trackerPosition
address = if (role == TrackerPosition.HEAD) {
"/VMC/Ext/Hmd/Pos"
} else if (role == TrackerPosition.LEFT_HAND || role == TrackerPosition.RIGHT_HAND
) {
} else if (role == TrackerPosition.LEFT_HAND || role == TrackerPosition.RIGHT_HAND) {
"/VMC/Ext/Con/Pos"
} else {
"/VMC/Ext/Tra/Pos"

6
server/core/src/main/java/dev/slimevr/osc/VRCOSCHandler.kt
View File

@@ -385,8 +385,10 @@ class VRCOSCHandler(
event.message.arguments[0] as Float,
event.message.arguments[1] as Float,
-(event.message.arguments[2] as Float),
) - receivingPositionOffset,
) + postReceivingPositionOffset
) -
receivingPositionOffset,
) +
postReceivingPositionOffset
} else {
// Update tracker rotation
val (w, x, y, z) = EulerAngles(

3
server/core/src/main/java/dev/slimevr/poseframeformat/PfrIO.kt
View File

@@ -178,8 +178,7 @@ object PfrIO {
null
}
fun readFromFile(file: File): PoseFrames =
DataInputStream(BufferedInputStream(FileInputStream(file))).use { readFrames(it) }
fun readFromFile(file: File): PoseFrames = DataInputStream(BufferedInputStream(FileInputStream(file))).use { readFrames(it) }
fun tryReadFromFile(file: File): PoseFrames? = try {
readFromFile(file)

3
server/core/src/main/java/dev/slimevr/poseframeformat/PfsIO.kt
View File

@@ -186,8 +186,7 @@ object PfsIO {
null
}
fun readFromFile(file: File): PoseFrames =
DataInputStream(BufferedInputStream(FileInputStream(file))).use { readFrames(it) }
fun readFromFile(file: File): PoseFrames = DataInputStream(BufferedInputStream(FileInputStream(file))).use { readFrames(it) }
fun tryReadFromFile(file: File): PoseFrames? = try {
readFromFile(file)

1
server/core/src/main/java/dev/slimevr/poseframeformat/PoseFrames.kt
View File

@@ -46,6 +46,7 @@ class PoseFrames : Iterable<Array<TrackerFrame?>> {
}
// region Data Utilities
/**
* @return The maximum Y value of the [TrackerFrames] associated with the
* [TrackerPosition.HEAD] tracker position on the first frame, otherwise `0f` if

3
server/core/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.kt
View File

@@ -403,8 +403,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
val tracker = api.server.getTrackerById(req.trackerId().unpack()) ?: return
val pos = getByBodyPart(req.bodyPosition())
val previousTracker = if (pos != null
) {
val previousTracker = if (pos != null) {
getTrackerForSkeleton(api.server.allTrackers, pos)
} else {
null

41
server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilderKotlin.kt
View File

@@ -9,25 +9,24 @@ object RPCSettingsBuilderKotlin {
fun createStayAlignedSettings(
fbb: FlatBufferBuilder,
config: StayAlignedConfig,
): Int =
StayAlignedSettings
.createStayAlignedSettings(
fbb,
config.enabled,
false, // deprecated
config.hideYawCorrection,
config.standingRelaxedPose.enabled,
config.standingRelaxedPose.upperLegAngleInDeg,
config.standingRelaxedPose.lowerLegAngleInDeg,
config.standingRelaxedPose.footAngleInDeg,
config.sittingRelaxedPose.enabled,
config.sittingRelaxedPose.upperLegAngleInDeg,
config.sittingRelaxedPose.lowerLegAngleInDeg,
config.sittingRelaxedPose.footAngleInDeg,
config.flatRelaxedPose.enabled,
config.flatRelaxedPose.upperLegAngleInDeg,
config.flatRelaxedPose.lowerLegAngleInDeg,
config.flatRelaxedPose.footAngleInDeg,
config.setupComplete,
)
): Int = StayAlignedSettings
.createStayAlignedSettings(
fbb,
config.enabled,
false, // deprecated
config.hideYawCorrection,
config.standingRelaxedPose.enabled,
config.standingRelaxedPose.upperLegAngleInDeg,
config.standingRelaxedPose.lowerLegAngleInDeg,
config.standingRelaxedPose.footAngleInDeg,
config.sittingRelaxedPose.enabled,
config.sittingRelaxedPose.upperLegAngleInDeg,
config.sittingRelaxedPose.lowerLegAngleInDeg,
config.sittingRelaxedPose.footAngleInDeg,
config.flatRelaxedPose.enabled,
config.flatRelaxedPose.upperLegAngleInDeg,
config.flatRelaxedPose.lowerLegAngleInDeg,
config.flatRelaxedPose.footAngleInDeg,
config.setupComplete,
)
}

3
server/core/src/main/java/dev/slimevr/serial/SerialHandler.kt
View File

@@ -45,8 +45,7 @@ abstract class SerialHandler {
// VNC2 with FT232Slave
Pair(0x0403, 0x6001),
)
fun isKnownBoard(port: SerialPort): Boolean =
supportedSerial.contains(Pair(port.vendorId, port.productId))
fun isKnownBoard(port: SerialPort): Boolean = supportedSerial.contains(Pair(port.vendorId, port.productId))
}
}

13
server/core/src/main/java/dev/slimevr/tracking/processor/Constraint.kt
View File

@@ -84,13 +84,12 @@ class Constraint(
COMPLETE,
}
private fun constraintTypeToFunc(type: ConstraintType) =
when (type) {
ConstraintType.COMPLETE -> completeConstraint
ConstraintType.TWIST_SWING -> twistSwingConstraint
ConstraintType.HINGE -> hingeConstraint
ConstraintType.LOOSE_HINGE -> looseHingeConstraint
}
private fun constraintTypeToFunc(type: ConstraintType) = when (type) {
ConstraintType.COMPLETE -> completeConstraint
ConstraintType.TWIST_SWING -> twistSwingConstraint
ConstraintType.HINGE -> hingeConstraint
ConstraintType.LOOSE_HINGE -> looseHingeConstraint
}
private fun getLocalRotation(rotation: Quaternion, thisBone: Bone, parent: Bone): Quaternion {
val localRotationOffset = parent.rotationOffset.inv() * thisBone.rotationOffset

7
server/core/src/main/java/dev/slimevr/tracking/processor/HumanPoseManager.kt
View File

@@ -340,6 +340,7 @@ class HumanPoseManager(val server: VRServer?) {
// #endregion
// #region config methods
/**
* @param key the offset from which to get the corresponding value
* @return the offset in config corresponding to the key
@@ -526,7 +527,8 @@ class HumanPoseManager(val server: VRServer?) {
if ((
tracker.isImu() &&
tracker.needsReset
) && tracker.resetsHandler.lastResetQuaternion != null
) &&
tracker.resetsHandler.lastResetQuaternion != null
) {
if (trackersDriftText.isNotEmpty()) {
trackersDriftText.append(" | ")
@@ -534,7 +536,8 @@ class HumanPoseManager(val server: VRServer?) {
// Get the difference between last reset and now
val difference = tracker
.getRotationNoResetSmooth() * tracker.resetsHandler.lastResetQuaternion!!.inv()
.getRotationNoResetSmooth() *
tracker.resetsHandler.lastResetQuaternion!!.inv()
// Get the pure yaw
var trackerDriftAngle = abs(
(

43
server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt
View File

@@ -437,16 +437,36 @@ class HumanSkeleton(
hasKneeTrackers = leftUpperLegTracker != null && rightUpperLegTracker != null
hasLeftArmTracker = leftLowerArmTracker != null || leftUpperArmTracker != null
hasRightArmTracker = rightLowerArmTracker != null || rightUpperArmTracker != null
hasLeftFingerTracker = leftThumbMetacarpalTracker != null || leftThumbProximalTracker != null || leftThumbDistalTracker != null ||
leftIndexProximalTracker != null || leftIndexIntermediateTracker != null || leftIndexDistalTracker != null ||
leftMiddleProximalTracker != null || leftMiddleIntermediateTracker != null || leftMiddleDistalTracker != null ||
leftRingProximalTracker != null || leftRingIntermediateTracker != null || leftRingDistalTracker != null ||
leftLittleProximalTracker != null || leftLittleIntermediateTracker != null || leftLittleDistalTracker != null
hasRightFingerTracker = rightThumbMetacarpalTracker != null || rightThumbProximalTracker != null || rightThumbDistalTracker != null ||
rightIndexProximalTracker != null || rightIndexIntermediateTracker != null || rightIndexDistalTracker != null ||
rightMiddleProximalTracker != null || rightMiddleIntermediateTracker != null || rightMiddleDistalTracker != null ||
rightRingProximalTracker != null || rightRingIntermediateTracker != null || rightRingDistalTracker != null ||
rightLittleProximalTracker != null || rightLittleIntermediateTracker != null || rightLittleDistalTracker != null
hasLeftFingerTracker = leftThumbMetacarpalTracker != null ||
leftThumbProximalTracker != null ||
leftThumbDistalTracker != null ||
leftIndexProximalTracker != null ||
leftIndexIntermediateTracker != null ||
leftIndexDistalTracker != null ||
leftMiddleProximalTracker != null ||
leftMiddleIntermediateTracker != null ||
leftMiddleDistalTracker != null ||
leftRingProximalTracker != null ||
leftRingIntermediateTracker != null ||
leftRingDistalTracker != null ||
leftLittleProximalTracker != null ||
leftLittleIntermediateTracker != null ||
leftLittleDistalTracker != null
hasRightFingerTracker = rightThumbMetacarpalTracker != null ||
rightThumbProximalTracker != null ||
rightThumbDistalTracker != null ||
rightIndexProximalTracker != null ||
rightIndexIntermediateTracker != null ||
rightIndexDistalTracker != null ||
rightMiddleProximalTracker != null ||
rightMiddleIntermediateTracker != null ||
rightMiddleDistalTracker != null ||
rightRingProximalTracker != null ||
rightRingIntermediateTracker != null ||
rightRingDistalTracker != null ||
rightLittleProximalTracker != null ||
rightLittleIntermediateTracker != null ||
rightLittleDistalTracker != null
// Rebuilds the arm skeleton nodes attachments
assembleSkeletonArms(true)
@@ -1208,7 +1228,8 @@ class HumanSkeleton(
}
// If trackingArmFromController, reverse
if (((boneType == BoneType.LEFT_LOWER_ARM || boneType == BoneType.LEFT_HAND) && isTrackingLeftArmFromController) ||
(boneType == BoneType.RIGHT_LOWER_ARM || boneType == BoneType.RIGHT_HAND) && isTrackingRightArmFromController
(boneType == BoneType.RIGHT_LOWER_ARM || boneType == BoneType.RIGHT_HAND) &&
isTrackingRightArmFromController
) {
transOffset = -transOffset
}

3
server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKConstraint.kt
View File

@@ -9,8 +9,7 @@ class IKConstraint(val tracker: Tracker) {
private var offset = Vector3.NULL
private var rotationOffset = Quaternion.IDENTITY
fun getPosition(): Vector3 =
tracker.position + (tracker.getRotation() * rotationOffset).sandwich(offset)
fun getPosition(): Vector3 = tracker.position + (tracker.getRotation() * rotationOffset).sandwich(offset)
fun reset(nodePosition: Vector3) {
val bodyPartsToSkip = setOf(BodyPart.LEFT_HAND, BodyPart.RIGHT_HAND)

50
server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaks.kt
View File

@@ -369,11 +369,15 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
// update the buffer
val leftFloorLevel: Float = (
floorLevel + footLength * getFootOffset(leftFootRotation) -
floorLevel +
footLength *
getFootOffset(leftFootRotation) -
currentDisengagementOffset
)
val rightFloorLevel: Float = (
floorLevel + footLength * getFootOffset(rightFootRotation) -
floorLevel +
footLength *
getFootOffset(rightFootRotation) -
currentDisengagementOffset
)
val leftFootAccel =
@@ -427,12 +431,17 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
// move the feet to their new positions
if (leftFootPosition.y
< floorLevel + footLength * leftOffset -
< floorLevel +
footLength *
leftOffset -
currentDisengagementOffset
) {
val displacement = abs(
(
floorLevel + footLength * leftOffset - leftFootPosition.y -
floorLevel +
footLength *
leftOffset -
leftFootPosition.y -
currentDisengagementOffset
),
)
@@ -450,12 +459,17 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
}
if (rightFootPosition.y
< floorLevel + footLength * rightOffset -
< floorLevel +
footLength *
rightOffset -
currentDisengagementOffset
) {
val displacement = abs(
(
floorLevel + footLength * rightOffset - rightFootPosition.y -
floorLevel +
footLength *
rightOffset -
rightFootPosition.y -
currentDisengagementOffset
),
)
@@ -551,38 +565,46 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
if (x * footDif.x > 0) {
newX += (
x * weight +
x *
weight +
(
constantCorrection
* (if (x > 0) 1 else -1) /
*
(if (x > 0) 1 else -1) /
bufferHead.getTimeDelta()
)
)
} else if (x * footDif.x < 0) {
newX -= (
x * weight +
x *
weight +
(
constantCorrection
* (if (x > 0) 1 else -1) /
*
(if (x > 0) 1 else -1) /
bufferHead.getTimeDelta()
)
)
}
if (z * footDif.z > 0) {
newZ += (
z * weight +
z *
weight +
(
constantCorrection
* (if (z > 0) 1 else -1) /
*
(if (z > 0) 1 else -1) /
bufferHead.getTimeDelta()
)
)
} else if (z * footDif.z < 0) {
newZ -= (
z * weight +
z *
weight +
(
constantCorrection
* (if (z > 0) 1 else -1) /
*
(if (z > 0) 1 else -1) /
bufferHead.getTimeDelta()
)
)

18
server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaksBuffer.kt
View File

@@ -501,7 +501,8 @@ class LegTweaksBuffer @Suppress("ktlint") constructor() {
leftFootSensitivityVel = (
(
leftFootScalarAccel +
leftFootScalarVel / 2.0f
leftFootScalarVel /
2.0f
) *
FastMath.clamp(
pressureScalars[0] * 2.0f,
@@ -512,7 +513,8 @@ class LegTweaksBuffer @Suppress("ktlint") constructor() {
rightFootSensitivityVel = (
(
rightFootScalarAccel +
rightFootScalarVel / 2.0f
rightFootScalarVel /
2.0f
) *
FastMath.clamp(
pressureScalars[1] * 2.0f,
@@ -535,7 +537,8 @@ class LegTweaksBuffer @Suppress("ktlint") constructor() {
} else if (accelMagnitude > MIN_SCALAR_ACCEL) {
return (
PARAM_SCALAR_MAX
* (accelMagnitude - MIN_SCALAR_ACCEL) /
*
(accelMagnitude - MIN_SCALAR_ACCEL) /
(MAX_SCALAR_ACCEL - MIN_SCALAR_ACCEL)
)
}
@@ -562,7 +565,8 @@ class LegTweaksBuffer @Suppress("ktlint") constructor() {
} else if (velocityDiffMagnitude > MIN_SCALAR_DORMANT) {
return (
PARAM_SCALAR_MAX
* (velocityDiffMagnitude - MIN_SCALAR_DORMANT) /
*
(velocityDiffMagnitude - MIN_SCALAR_DORMANT) /
(MAX_SCALAR_DORMANT - MIN_SCALAR_DORMANT)
)
}
@@ -579,7 +583,8 @@ class LegTweaksBuffer @Suppress("ktlint") constructor() {
}
return (
PARAM_SCALAR_MAX
* (velocityDiffAbs - MIN_SCALAR_ACTIVE) /
*
(velocityDiffAbs - MIN_SCALAR_ACTIVE) /
(MAX_SCALAR_ACTIVE - MIN_SCALAR_ACTIVE) -
PARAM_SCALAR_MID
)
@@ -602,7 +607,8 @@ class LegTweaksBuffer @Suppress("ktlint") constructor() {
GRAVITY_MAGNITUDE * leftFootVector.y / leftFootVector.len()
val rightFootMagnitude: Float = (
GRAVITY_MAGNITUDE
* rightFootVector.y /
*
rightFootVector.y /
rightFootVector.len()
)

6
server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/TapDetection.kt
View File

@@ -155,8 +155,7 @@ class TapDetection {
) {
if (skeleton.chestTracker!!.getAcceleration().lenSq() > ALLOWED_BODY_ACCEL_SQUARED) num++
}
if (skeleton.hipTracker != null && skeleton.hipTracker != trackerToExclude
) {
if (skeleton.hipTracker != null && skeleton.hipTracker != trackerToExclude) {
if (skeleton.hipTracker!!.getAcceleration().lenSq() > ALLOWED_BODY_ACCEL_SQUARED) num++
}
if (skeleton.waistTracker != null &&
@@ -185,8 +184,7 @@ class TapDetection {
if (skeleton.leftFootTracker != null &&
skeleton.leftFootTracker != trackerToExclude
) {
if (skeleton.leftFootTracker!!.getAcceleration().lenSq() > ALLOWED_BODY_ACCEL_SQUARED
) {
if (skeleton.leftFootTracker!!.getAcceleration().lenSq() > ALLOWED_BODY_ACCEL_SQUARED) {
num++
}
}

11
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/StayAlignedDefaults.kt
View File

@@ -13,12 +13,11 @@ import kotlin.time.Duration.Companion.seconds
object StayAlignedDefaults {
// Rest detector for detecting when trackers are at rest
fun makeRestDetector() =
RestDetector(
maxRotation = Angle.ofDeg(2.0f),
enterRestTime = 1.seconds,
enterMovingTime = 3.seconds,
)
fun makeRestDetector() = RestDetector(
maxRotation = Angle.ofDeg(2.0f),
enterRestTime = 1.seconds,
enterMovingTime = 3.seconds,
)
// Relaxed pose for kneeling. This isn't that common, so we don't want to ask
// players to provide this relaxed pose during setup.

10
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/adjust/AdjustTrackerYaw.kt
View File

@@ -176,8 +176,10 @@ object AdjustTrackerYaw {
* Calculates the gradient between two errors. A negative gradient means that there
* is less error in that direction.
*/
private fun gradient(errors: YawErrors, base: YawErrors) =
(errors.lockedError.toL2Norm() - base.lockedError.toL2Norm()) * YAW_ERRORS_LOCKED_ERROR_WEIGHT +
(errors.centerError.toL2Norm() - base.centerError.toL2Norm()) * YAW_ERRORS_CENTER_ERROR_WEIGHT +
(errors.neighborError.toL2Norm() - base.neighborError.toL2Norm()) * YAW_ERRORS_NEIGHBOR_ERROR_WEIGHT
private fun gradient(errors: YawErrors, base: YawErrors) = (errors.lockedError.toL2Norm() - base.lockedError.toL2Norm()) *
YAW_ERRORS_LOCKED_ERROR_WEIGHT +
(errors.centerError.toL2Norm() - base.centerError.toL2Norm()) *
YAW_ERRORS_CENTER_ERROR_WEIGHT +
(errors.neighborError.toL2Norm() - base.neighborError.toL2Norm()) *
YAW_ERRORS_NEIGHBOR_ERROR_WEIGHT
}

3
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/adjust/LockedErrorVisitor.kt
View File

@@ -88,8 +88,7 @@ class LockedErrorVisitor(
errors.add(error(tracker))
}
private fun error(tracker: Tracker): Angle =
yawDifference(tracker.getAdjustedRotationForceStayAligned(), lockedRotation)
private fun error(tracker: Tracker): Angle = yawDifference(tracker.getAdjustedRotationForceStayAligned(), lockedRotation)
companion object {

29
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/adjust/TrackerYaw.kt
View File

@@ -21,11 +21,10 @@ object TrackerYaw {
/**
* Whether we can get the yaw of a tracker.
*/
fun hasTrackerYaw(tracker: Tracker) =
Angle.absBetween(
tracker.getAdjustedRotationForceStayAligned().sandwichUnitX(),
Vector3.POS_Y,
) > MIN_ON_SIDE_ANGLE
fun hasTrackerYaw(tracker: Tracker) = Angle.absBetween(
tracker.getAdjustedRotationForceStayAligned().sandwichUnitX(),
Vector3.POS_Y,
) > MIN_ON_SIDE_ANGLE
/**
* Gets the yaw of the tracker, for trackers that are not on its side.
@@ -39,21 +38,19 @@ object TrackerYaw {
* singularity for this rotation to get "some" yaw, but this yaw will be very
* different from the from YZX. DO NOT ATTEMPT!
*/
fun trackerYaw(tracker: Tracker) =
Angle.ofRad(
tracker.getAdjustedRotationForceStayAligned()
.toEulerAngles(EulerOrder.YZX)
.y,
)
fun trackerYaw(tracker: Tracker) = Angle.ofRad(
tracker.getAdjustedRotationForceStayAligned()
.toEulerAngles(EulerOrder.YZX)
.y,
)
/**
* Applies an extra yaw in the specified direction.
*/
fun extraYaw(direction: Side, angle: Angle) =
when (direction) {
Side.LEFT -> angle
Side.RIGHT -> -angle
}
fun extraYaw(direction: Side, angle: Angle) = when (direction) {
Side.LEFT -> angle
Side.RIGHT -> -angle
}
private val MIN_ON_SIDE_ANGLE = Angle.ofDeg(30.0f)
}

63
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/poses/PlayerPose.kt
View File

@@ -51,42 +51,39 @@ enum class PlayerPose {
val rightLowerLeg: TrackerPose,
)
private fun isStanding(pose: TrackerPoses) =
pose.upperBody.all { it == TrackerPose.TOP_FACING_UP } &&
pose.leftUpperLeg == TrackerPose.TOP_FACING_UP &&
pose.rightUpperLeg == TrackerPose.TOP_FACING_UP &&
pose.leftLowerLeg == TrackerPose.TOP_FACING_UP &&
pose.rightLowerLeg == TrackerPose.TOP_FACING_UP
private fun isStanding(pose: TrackerPoses) = pose.upperBody.all { it == TrackerPose.TOP_FACING_UP } &&
pose.leftUpperLeg == TrackerPose.TOP_FACING_UP &&
pose.rightUpperLeg == TrackerPose.TOP_FACING_UP &&
pose.leftLowerLeg == TrackerPose.TOP_FACING_UP &&
pose.rightLowerLeg == TrackerPose.TOP_FACING_UP
private fun isSittingInChair(pose: TrackerPoses) =
pose.upperBody.isNotEmpty() && pose.upperBody[0] == TrackerPose.TOP_FACING_UP &&
pose.upperBody.all { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
pose.leftUpperLeg == TrackerPose.FRONT_FACING_UP &&
pose.rightUpperLeg == TrackerPose.FRONT_FACING_UP &&
pose.leftLowerLeg == TrackerPose.TOP_FACING_UP &&
pose.rightLowerLeg == TrackerPose.TOP_FACING_UP
private fun isSittingInChair(pose: TrackerPoses) = pose.upperBody.isNotEmpty() &&
pose.upperBody[0] == TrackerPose.TOP_FACING_UP &&
pose.upperBody.all { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
pose.leftUpperLeg == TrackerPose.FRONT_FACING_UP &&
pose.rightUpperLeg == TrackerPose.FRONT_FACING_UP &&
pose.leftLowerLeg == TrackerPose.TOP_FACING_UP &&
pose.rightLowerLeg == TrackerPose.TOP_FACING_UP
private fun isSittingOnGround(pose: TrackerPoses) =
pose.upperBody.isNotEmpty() && pose.upperBody[0] == TrackerPose.TOP_FACING_UP &&
pose.upperBody.all { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
// Allow legs to be flat on ground, or knees-up
pose.leftUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.rightUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.leftLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP } &&
pose.rightLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP }
private fun isSittingOnGround(pose: TrackerPoses) = pose.upperBody.isNotEmpty() &&
pose.upperBody[0] == TrackerPose.TOP_FACING_UP &&
pose.upperBody.all { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
// Allow legs to be flat on ground, or knees-up
pose.leftUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.rightUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.leftLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP } &&
pose.rightLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP }
private fun isLyingOnBack(pose: TrackerPoses) =
pose.upperBody.all { it == TrackerPose.FRONT_FACING_UP } &&
// Allow legs to be flat on ground, or knees-up
pose.leftUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.rightUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.leftLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP } &&
pose.rightLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP }
private fun isLyingOnBack(pose: TrackerPoses) = pose.upperBody.all { it == TrackerPose.FRONT_FACING_UP } &&
// Allow legs to be flat on ground, or knees-up
pose.leftUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.rightUpperLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_DOWN } &&
pose.leftLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP } &&
pose.rightLowerLeg.let { it == TrackerPose.FRONT_FACING_UP || it == TrackerPose.TOP_FACING_UP }
private fun isKneeling(pose: TrackerPoses) =
pose.leftUpperLeg.let { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
pose.rightUpperLeg.let { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
pose.leftLowerLeg == TrackerPose.FRONT_FACING_DOWN &&
pose.rightLowerLeg == TrackerPose.FRONT_FACING_DOWN
private fun isKneeling(pose: TrackerPoses) = pose.leftUpperLeg.let { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
pose.rightUpperLeg.let { it == TrackerPose.TOP_FACING_UP || it == TrackerPose.FRONT_FACING_UP } &&
pose.leftLowerLeg == TrackerPose.FRONT_FACING_DOWN &&
pose.rightLowerLeg == TrackerPose.FRONT_FACING_DOWN
}
}

96
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/poses/RelaxedPose.kt
View File

@@ -12,8 +12,7 @@ class RelaxedPose(
val lowerLeg: Angle,
val foot: Angle,
) {
override fun toString(): String =
"upperLeg=$upperLeg lowerLeg=$lowerLeg foot=$foot"
override fun toString(): String = "upperLeg=$upperLeg lowerLeg=$lowerLeg foot=$foot"
companion object {
@@ -26,56 +25,55 @@ class RelaxedPose(
fun forPose(
playerPose: PlayerPose,
config: StayAlignedConfig,
) =
when (playerPose) {
PlayerPose.STANDING -> {
val poseConfig = config.standingRelaxedPose
if (poseConfig.enabled) {
RelaxedPose(
Angle.ofDeg(poseConfig.upperLegAngleInDeg),
Angle.ofDeg(poseConfig.lowerLegAngleInDeg),
Angle.ofDeg(poseConfig.footAngleInDeg),
)
} else {
null
}
}
PlayerPose.SITTING_IN_CHAIR -> {
val poseConfig = config.sittingRelaxedPose
if (poseConfig.enabled) {
RelaxedPose(
Angle.ofDeg(poseConfig.upperLegAngleInDeg),
Angle.ofDeg(poseConfig.lowerLegAngleInDeg),
Angle.ofDeg(poseConfig.footAngleInDeg),
)
} else {
null
}
}
PlayerPose.SITTING_ON_GROUND,
PlayerPose.LYING_ON_BACK,
-> {
val poseConfig = config.flatRelaxedPose
if (poseConfig.enabled) {
RelaxedPose(
Angle.ofDeg(poseConfig.upperLegAngleInDeg),
Angle.ofDeg(poseConfig.lowerLegAngleInDeg),
Angle.ofDeg(poseConfig.footAngleInDeg),
)
} else {
null
}
}
PlayerPose.KNEELING ->
StayAlignedDefaults.RELAXED_POSE_KNEELING
else ->
) = when (playerPose) {
PlayerPose.STANDING -> {
val poseConfig = config.standingRelaxedPose
if (poseConfig.enabled) {
RelaxedPose(
Angle.ofDeg(poseConfig.upperLegAngleInDeg),
Angle.ofDeg(poseConfig.lowerLegAngleInDeg),
Angle.ofDeg(poseConfig.footAngleInDeg),
)
} else {
null
}
}
PlayerPose.SITTING_IN_CHAIR -> {
val poseConfig = config.sittingRelaxedPose
if (poseConfig.enabled) {
RelaxedPose(
Angle.ofDeg(poseConfig.upperLegAngleInDeg),
Angle.ofDeg(poseConfig.lowerLegAngleInDeg),
Angle.ofDeg(poseConfig.footAngleInDeg),
)
} else {
null
}
}
PlayerPose.SITTING_ON_GROUND,
PlayerPose.LYING_ON_BACK,
-> {
val poseConfig = config.flatRelaxedPose
if (poseConfig.enabled) {
RelaxedPose(
Angle.ofDeg(poseConfig.upperLegAngleInDeg),
Angle.ofDeg(poseConfig.lowerLegAngleInDeg),
Angle.ofDeg(poseConfig.footAngleInDeg),
)
} else {
null
}
}
PlayerPose.KNEELING ->
StayAlignedDefaults.RELAXED_POSE_KNEELING
else ->
null
}
/**
* Gets the relaxed angles from the trackers.
*/

7
server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
View File

@@ -178,8 +178,11 @@ class Tracker @JvmOverloads constructor(
}
fun checkReportRequireReset() {
if (needsReset && trackerPosition != null && lastResetStatus == 0u &&
!status.reset && (isImu() || !statusResetRecently && trackerDataType != TrackerDataType.FLEX_ANGLE)
if (needsReset &&
trackerPosition != null &&
lastResetStatus == 0u &&
!status.reset &&
(isImu() || !statusResetRecently && trackerDataType != TrackerDataType.FLEX_ANGLE)
) {
reportRequireReset()
} else if (lastResetStatus != 0u && (trackerPosition == null || status.reset)) {

1
server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt
View File

@@ -55,6 +55,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
}
// Reference adjustment quats
/**
* Gyro fix is set by full reset. This sets the current y rotation to 0, correcting
* for initial yaw rotation and the rotation incurred by mounting orientation. This

3
server/core/src/main/java/dev/slimevr/tracking/trackers/udp/TrackersUDPServer.kt
View File

@@ -233,7 +233,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}
}
} else if (magStatus == MagnetometerStatus.DISABLED &&
VRServer.instance.configManager.vrConfig.server.useMagnetometerOnAllTrackers && imuTracker.config.shouldHaveMagEnabled == true
VRServer.instance.configManager.vrConfig.server.useMagnetometerOnAllTrackers &&
imuTracker.config.shouldHaveMagEnabled == true
) {
mainScope.launch {
withTimeoutOrNull(MAG_TIMEOUT) {

4
server/core/src/main/java/io/eiren/math/FloatMath.kt
View File

@@ -140,7 +140,9 @@ object FloatMath {
targetEnd: Float,
): Float = (
targetStart +
(value - sourceStart) * (targetEnd - targetStart) / (sourceEnd - sourceStart)
(value - sourceStart) *
(targetEnd - targetStart) /
(sourceEnd - sourceStart)
)
/**

3
server/core/src/main/java/io/eiren/util/logging/FileLogHandler.kt
View File

@@ -104,8 +104,7 @@ class FileLogHandler @JvmOverloads constructor(
// Log name should have at least two separators, one integer, and at
// least one char for the datetime (4 chars)
if (!name.startsWith(logTag) || !name.endsWith(logSuffix) || name.length < (logTag.length + logSuffix.length + 4)
) {
if (!name.startsWith(logTag) || !name.endsWith(logSuffix) || name.length < (logTag.length + logSuffix.length + 4)) {
// Ignore non-matching files
return null
}

1
server/core/src/main/java/io/github/axisangles/ktmath/EulerAngles.kt
View File

@@ -75,6 +75,7 @@ value class EulerAngles(val order: EulerOrder, val x: Float, val y: Float, val z
// temp, replace with direct conversion later
// fun toMatrix(): Matrix3 = this.toQuaternion().toMatrix()
/**
* creates a matrix which represents the same rotation as this eulerAngles
* @return the matrix

82
server/core/src/main/java/io/github/axisangles/ktmath/Quaternion.kt
View File

@@ -41,8 +41,7 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* @param vz the rotation vector's z component
* @return the new quaternion
**/
fun fromRotationVector(vx: Float, vy: Float, vz: Float): Quaternion =
fromRotationVector(Vector3(vx, vy, vz))
fun fromRotationVector(vx: Float, vy: Float, vz: Float): Quaternion = fromRotationVector(Vector3(vx, vy, vz))
/**
* finds Q, the smallest-angled quaternion whose local u direction aligns with
@@ -65,8 +64,7 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* Derived from the axis-angle representation in
* https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Unit_quaternions
*/
fun rotationAroundXAxis(angle: Float): Quaternion =
Quaternion(cos(angle / 2.0f), sin(angle / 2.0f), 0.0f, 0.0f)
fun rotationAroundXAxis(angle: Float): Quaternion = Quaternion(cos(angle / 2.0f), sin(angle / 2.0f), 0.0f, 0.0f)
/**
* Rotation around Y-axis
@@ -74,8 +72,7 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* Derived from the axis-angle representation in
* https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Unit_quaternions
*/
fun rotationAroundYAxis(angle: Float): Quaternion =
Quaternion(cos(angle / 2.0f), 0.0f, sin(angle / 2.0f), 0.0f)
fun rotationAroundYAxis(angle: Float): Quaternion = Quaternion(cos(angle / 2.0f), 0.0f, sin(angle / 2.0f), 0.0f)
/**
* Rotation around Z-axis
@@ -83,8 +80,7 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* Derived from the axis-angle representation in
* https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Unit_quaternions
*/
fun rotationAroundZAxis(angle: Float): Quaternion =
Quaternion(cos(angle / 2.0f), 0.0f, 0.0f, sin(angle / 2.0f))
fun rotationAroundZAxis(angle: Float): Quaternion = Quaternion(cos(angle / 2.0f), 0.0f, 0.0f, sin(angle / 2.0f))
/**
* SlimeVR-specific constants and utils
@@ -130,8 +126,7 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
this.z + that.z,
)
operator fun plus(that: Float): Quaternion =
Quaternion(this.w + that, this.x, this.y, this.z)
operator fun plus(that: Float): Quaternion = Quaternion(this.w + that, this.x, this.y, this.z)
operator fun minus(that: Quaternion): Quaternion = Quaternion(
this.w - that.w,
@@ -140,16 +135,14 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
this.z - that.z,
)
operator fun minus(that: Float): Quaternion =
Quaternion(this.w - that, this.x, this.y, this.z)
operator fun minus(that: Float): Quaternion = Quaternion(this.w - that, this.x, this.y, this.z)
/**
* computes the dot product of this quaternion with that quaternion
* @param that the quaternion with which to be dotted
* @return the dot product between quaternions
**/
fun dot(that: Quaternion): Float =
this.w * that.w + this.x * that.x + this.y * that.y + this.z * that.z
fun dot(that: Quaternion): Float = this.w * that.w + this.x * that.x + this.y * that.y + this.z * that.z
/**
* computes the square of the length of this quaternion
@@ -262,16 +255,14 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* @param that the quaternion to be nearest to
* @return nearest quaternion
**/
fun twinNearest(that: Quaternion): Quaternion =
if (this.dot(that) < 0f) -this else this
fun twinNearest(that: Quaternion): Quaternion = if (this.dot(that) < 0f) -this else this
/**
* between this and -this, picks the one furthest from that quaternion
* @param that the quaternion to be furthest from
* @return furthest quaternion
**/
fun twinFurthest(that: Quaternion): Quaternion =
if (this.dot(that) < 0f) this else -this
fun twinFurthest(that: Quaternion): Quaternion = if (this.dot(that) < 0f) this else -this
/**
* Similar to [twinNearest], but offset so the lower back quadrant is the furthest
@@ -297,16 +288,15 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* @param t the amount to interpolate
* @return interpolated quaternion
**/
fun interpQ(that: Quaternion, t: Float) =
if (t == 0f) {
this
} else if (t == 1f) {
that
} else if (t < 0.5f) {
(that / this).pow(t) * this
} else {
(this / that).pow(1f - t) * that
}
fun interpQ(that: Quaternion, t: Float) = if (t == 0f) {
this
} else if (t == 1f) {
that
} else if (t < 0.5f) {
(that / this).pow(t) * this
} else {
(this / that).pow(1f - t) * that
}
/**
* interpolates from this quaternion to that quaternion by t in rotation space
@@ -440,12 +430,11 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* First column of rotation matrix in
* https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Conversion_to_and_from_the_matrix_representation
*/
fun sandwichUnitX(): Vector3 =
Vector3(
w * w + x * x - y * y - z * z,
2.0f * (x * y + w * z),
2.0f * (x * z - w * y),
)
fun sandwichUnitX(): Vector3 = Vector3(
w * w + x * x - y * y - z * z,
2.0f * (x * y + w * z),
2.0f * (x * z - w * y),
)
/**
* Sandwiches the unit Y vector
@@ -453,12 +442,11 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* Second column of rotation matrix in
* https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Conversion_to_and_from_the_matrix_representation
*/
fun sandwichUnitY(): Vector3 =
Vector3(
2.0f * (x * y - w * z),
w * w - x * x + y * y - z * z,
2.0f * (y * z + w * x),
)
fun sandwichUnitY(): Vector3 = Vector3(
2.0f * (x * y - w * z),
w * w - x * x + y * y - z * z,
2.0f * (y * z + w * x),
)
/**
* Sandwiches the unit Z vector
@@ -466,12 +454,11 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* Third column of rotation matrix in
* https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Conversion_to_and_from_the_matrix_representation
*/
fun sandwichUnitZ(): Vector3 =
Vector3(
2.0f * (x * z + w * y),
2.0f * (y * z - w * x),
w * w - x * x - y * y + z * z,
)
fun sandwichUnitZ(): Vector3 = Vector3(
2.0f * (x * z + w * y),
2.0f * (y * z - w * x),
w * w - x * x - y * y + z * z,
)
/**
* computes this quaternion's unit length rotation axis
@@ -503,8 +490,7 @@ value class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
* @param order the order in which to decompose this quaternion into euler angles
* @return euler angles
**/
fun toEulerAngles(order: EulerOrder): EulerAngles =
this.toMatrix().toEulerAnglesAssumingOrthonormal(order)
fun toEulerAngles(order: EulerOrder): EulerAngles = this.toMatrix().toEulerAnglesAssumingOrthonormal(order)
fun toObject() = ObjectQuaternion(w, x, y, z)
}

3
server/core/src/main/java/io/github/axisangles/ktmath/Vector3.kt
View File

@@ -100,8 +100,7 @@ value class Vector3(val x: Float, val y: Float, val z: Float) {
**/
fun angleTo(that: Vector3): Float = atan2(this.cross(that).len(), this.dot(that))
fun isNear(other: Vector3, maxError: Float = 1e-6f) =
abs(x - other.x) <= maxError && abs(y - other.y) <= maxError && abs(z - other.z) <= maxError
fun isNear(other: Vector3, maxError: Float = 1e-6f) = abs(x - other.x) <= maxError && abs(y - other.y) <= maxError && abs(z - other.z) <= maxError
}
operator fun Float.times(that: Vector3): Vector3 = that * this

16
server/core/src/test/java/dev/slimevr/unit/TrackerTestUtils.kt
View File

@@ -76,14 +76,12 @@ object TrackerTestUtils {
}
}
fun quatApproxEqual(q1: Quaternion, q2: Quaternion, tolerance: Float = FastMath.ZERO_TOLERANCE): Boolean =
FastMath.isApproxEqual(q1.w, q2.w, tolerance) &&
FastMath.isApproxEqual(q1.x, q2.x, tolerance) &&
FastMath.isApproxEqual(q1.y, q2.y, tolerance) &&
FastMath.isApproxEqual(q1.z, q2.z, tolerance)
fun quatApproxEqual(q1: Quaternion, q2: Quaternion, tolerance: Float = FastMath.ZERO_TOLERANCE): Boolean = FastMath.isApproxEqual(q1.w, q2.w, tolerance) &&
FastMath.isApproxEqual(q1.x, q2.x, tolerance) &&
FastMath.isApproxEqual(q1.y, q2.y, tolerance) &&
FastMath.isApproxEqual(q1.z, q2.z, tolerance)
fun vectorApproxEqual(v1: Vector3, v2: Vector3, tolerance: Float = FastMath.ZERO_TOLERANCE): Boolean =
FastMath.isApproxEqual(v1.x, v2.x, tolerance) &&
FastMath.isApproxEqual(v1.y, v2.y, tolerance) &&
FastMath.isApproxEqual(v1.z, v2.z, tolerance)
fun vectorApproxEqual(v1: Vector3, v2: Vector3, tolerance: Float = FastMath.ZERO_TOLERANCE): Boolean = FastMath.isApproxEqual(v1.x, v2.x, tolerance) &&
FastMath.isApproxEqual(v1.y, v2.y, tolerance) &&
FastMath.isApproxEqual(v1.z, v2.z, tolerance)
}

11
server/desktop/src/main/java/dev/slimevr/desktop/NetworkProfileChecker.kt
View File

@@ -59,12 +59,11 @@ enum class ConnectivityFlags(val value: Int) {
;
companion object {
fun fromInt(value: Int): Set<ConnectivityFlags> =
if (value == 0) {
setOf(DISCONNECTED)
} else {
values().filter { it != DISCONNECTED && (value and it.value) != 0 }.toSet()
}
fun fromInt(value: Int): Set<ConnectivityFlags> = if (value == 0) {
setOf(DISCONNECTED)
} else {
values().filter { it != DISCONNECTED && (value and it.value) != 0 }.toSet()
}
}
}

3
server/desktop/src/main/java/dev/slimevr/desktop/games/vrchat/DesktopVRCConfigHandler.kt
View File

@@ -68,7 +68,8 @@ class DesktopVRCConfigHandler : VRCConfigHandler() {
get() = (
OperatingSystem.currentPlatform == OperatingSystem.WINDOWS ||
OperatingSystem.currentPlatform == OperatingSystem.LINUX
) && vrcConfigKeys.isNotEmpty()
) &&
vrcConfigKeys.isNotEmpty()
override fun initHandler(onChange: (config: VRCConfigValues) -> Unit) {
this.onChange = onChange

3
server/desktop/src/main/java/dev/slimevr/desktop/platform/SteamVRBridge.kt
View File

@@ -389,7 +389,8 @@ abstract class SteamVRBridge(
// readings.
if (((lowestLevel >= 200) || (lowestLevel < 0)) ||
(
(trackerVoltage < 3.2) && (lowestLevel <= 0) ||
(trackerVoltage < 3.2) &&
(lowestLevel <= 0) ||
((trackerVoltage >= 5) && (lowestLevel > 150))
)
) {