Fix skeleton config loading (#635)

server/src/main/java/dev/slimevr/autobone/AutoBone.kt

@@ -13,7 +13,6 @@ import dev.slimevr.autobone.errors.PositionOffsetError
 import dev.slimevr.autobone.errors.SlideError
 import dev.slimevr.config.AutoBoneConfig
 import dev.slimevr.poserecorder.PoseFrameIO
-import dev.slimevr.poserecorder.PoseFrameTracker
 import dev.slimevr.poserecorder.PoseFrames
 import dev.slimevr.tracking.processor.BoneType
 import dev.slimevr.tracking.processor.HumanPoseManager
@@ -84,12 +83,12 @@ class AutoBone(server: VRServer) {
 	init {
 		config = server.configManager.vrConfig.autoBone
 		this.server = server
-		reloadConfigValues()
+		loadConfigValues()
 	}
 
 	fun computeBoneOffset(
-		bone: BoneType?,
-		getOffset: Function<SkeletonConfigOffsets?, Float>,
+		bone: BoneType,
+		getOffset: Function<SkeletonConfigOffsets, Float>,
 	): Float {
 		return when (bone) {
 			BoneType.HEAD -> getOffset.apply(SkeletonConfigOffsets.HEAD)
@@ -114,18 +113,19 @@ class AutoBone(server: VRServer) {
 		}
 	}
 
-	fun reloadConfigValues(trackers: List<PoseFrameTracker?>? = null) {
+	private fun loadConfigValues() {
 		// Remove all previous values
 		offsets.clear()
 
 		// Get current or default skeleton configs
 		val skeleton = humanPoseManager
-		val getOffset: Function<SkeletonConfigOffsets?, Float> =
+		val getOffset: Function<SkeletonConfigOffsets, Float> =
 			if (skeleton != null) {
-				Function { key: SkeletonConfigOffsets? -> skeleton.getOffset(key) }
+				Function { key: SkeletonConfigOffsets -> skeleton.getOffset(key) }
 			} else {
-				Function { config: SkeletonConfigOffsets? ->
-					SkeletonConfigManager(false).getOffset(config)
+				val defaultConfig = SkeletonConfigManager(false)
+				Function { config: SkeletonConfigOffsets ->
+					defaultConfig.getOffset(config)
 				}
 			}
 		for (bone in adjustOffsets) {
@@ -379,14 +379,23 @@ class AutoBone(server: VRServer) {
 		val trackers1 = frames1.trackers
 		val trackers2 = frames2.trackers
 
-		// Reload configs and detect chest tracker from the first frame
-		reloadConfigValues(trackers1)
+		// Load current values for adjustable configs
+		loadConfigValues()
+
 		val skeleton1 = HumanPoseManager(
 			trackers1
 		)
 		val skeleton2 = HumanPoseManager(
 			trackers2
 		)
+
+		// Load server configs into the skeleton
+		skeleton1.loadFromConfig(server.configManager)
+		skeleton2.loadFromConfig(server.configManager)
+		// Disable leg tweaks, this will mess with the resulting positions
+		skeleton1.setLegTweaksEnabled(false)
+		skeleton2.setLegTweaksEnabled(false)
+
 		val intermediateOffsets = EnumMap(
 			offsets
 		)
@@ -397,8 +406,6 @@ class AutoBone(server: VRServer) {
 			frames,
 			intermediateOffsets
 		)
-		skeleton1.setLegTweaksEnabled(false)
-		skeleton2.setLegTweaksEnabled(false)
 
 		// If target height isn't specified, auto-detect
 		if (targetHeight < 0f) {
@@ -470,7 +477,8 @@ class AutoBone(server: VRServer) {
 							.warning(
 								"[AutoBone] Error value is invalid, resetting variables to recover"
 							)
-						reloadConfigValues(trackers1)
+						// Reset adjustable config values
+						loadConfigValues()
 
 						// Reset error sum values
 						errorStats.reset()

server/src/main/java/dev/slimevr/posestreamer/PoseFrameStreamer.java

@@ -1,5 +1,6 @@
 package dev.slimevr.posestreamer;
 
+import dev.slimevr.config.ConfigManager;
 import dev.slimevr.poserecorder.PoseFrameIO;
 import dev.slimevr.poserecorder.PoseFrames;
 import dev.slimevr.tracking.processor.HumanPoseManager;
@@ -26,6 +27,11 @@ public class PoseFrameStreamer extends PoseStreamer {
 		skeleton = humanPoseManager.getSkeleton();
 	}
 
+	public PoseFrameStreamer(PoseFrames frames, ConfigManager configManager) {
+		this(frames);
+		humanPoseManager.loadFromConfig(configManager);
+	}
+
 	public PoseFrames getFrames() {
 		return frames;
 	}

server/src/main/java/dev/slimevr/tracking/processor/HumanPoseManager.java

@@ -2,6 +2,7 @@ package dev.slimevr.tracking.processor;
 
 import com.jme3.math.Vector3f;
 import dev.slimevr.VRServer;
+import dev.slimevr.config.ConfigManager;
 import dev.slimevr.tracking.processor.config.SkeletonConfigManager;
 import dev.slimevr.tracking.processor.config.SkeletonConfigOffsets;
 import dev.slimevr.tracking.processor.config.SkeletonConfigToggles;
@@ -53,6 +54,8 @@ public class HumanPoseManager {
 	public HumanPoseManager(List<? extends Tracker> trackers) {
 		this();
 		skeleton = new HumanSkeleton(this, trackers);
+		// Set default node offsets on the new skeleton
+		skeletonConfigManager.updateNodeOffsetsInSkeleton();
 		skeletonConfigManager.updateSettingsInSkeleton();
 	}
 
@@ -70,6 +73,8 @@ public class HumanPoseManager {
 	) {
 		this();
 		skeleton = new HumanSkeleton(this, trackers);
+		// Set default node offsets on the new skeleton
+		skeletonConfigManager.updateNodeOffsetsInSkeleton();
 		// Set offsetConfigs from given offsetConfigs on creation
 		skeletonConfigManager.setOffsets(offsetConfigs);
 		skeletonConfigManager.updateSettingsInSkeleton();
@@ -92,6 +97,8 @@ public class HumanPoseManager {
 	) {
 		this();
 		skeleton = new HumanSkeleton(this, trackers);
+		// Set default node offsets on the new skeleton
+		skeletonConfigManager.updateNodeOffsetsInSkeleton();
 		// Set offsetConfigs from given offsetConfigs on creation
 		if (altOffsetConfigs != null) {
 			// Set alts first, so if there's any overlap it doesn't affect
@@ -195,11 +202,18 @@ public class HumanPoseManager {
 			);
 	}
 
+	public void loadFromConfig(ConfigManager configManager) {
+		skeletonConfigManager.loadFromConfig(configManager);
+	}
+
 	@VRServerThread
 	public void updateSkeletonModelFromServer() {
 		disconnectComputedHumanPoseTrackers();
 		skeleton = new HumanSkeleton(this, server);
-		skeletonConfigManager.loadFromConfig(server.getConfigManager());
+		// This recomputes all node offsets, so the defaults don't need to be
+		// explicitly loaded into the skeleton (no need for
+		// `updateNodeOffsetsInSkeleton()`)
+		loadFromConfig(server.getConfigManager());
 		for (Consumer<HumanSkeleton> sc : onSkeletonUpdated)
 			sc.accept(skeleton);
 	}

server/src/main/java/dev/slimevr/tracking/processor/config/SkeletonConfigManager.java

@@ -5,6 +5,7 @@ import dev.slimevr.Main;
 import dev.slimevr.autobone.errors.BodyProportionError;
 import dev.slimevr.autobone.errors.proportions.ProportionLimiter;
 import dev.slimevr.config.ConfigManager;
+import dev.slimevr.config.SkeletonConfig;
 import dev.slimevr.tracking.processor.BoneType;
 import dev.slimevr.tracking.processor.HumanPoseManager;
 
@@ -76,6 +77,17 @@ public class SkeletonConfigManager {
 		}
 	}
 
+	public void updateNodeOffsetsInSkeleton() {
+		if (humanPoseManager == null)
+			return;
+
+		for (BoneType config : BoneType.values) {
+			Vector3f val = nodeOffsets.get(config);
+			if (val != null)
+				humanPoseManager.updateNodeOffset(config, val);
+		}
+	}
+
 	public void setOffset(
 		SkeletonConfigOffsets config,
 		Float newValue,
@@ -430,13 +442,12 @@ public class SkeletonConfigManager {
 	}
 
 	public void loadFromConfig(ConfigManager configManager) {
+		SkeletonConfig skeletonConfig = configManager.getVrConfig().getSkeleton();
+
 		// Load offsets
+		Map<String, Float> offsets = skeletonConfig.getOffsets();
 		for (SkeletonConfigOffsets configValue : SkeletonConfigOffsets.values) {
-			Float val = configManager
-				.getVrConfig()
-				.getSkeleton()
-				.getOffsets()
-				.get(configValue.configKey);
+			Float val = offsets.get(configValue.configKey);
 			if (val != null) {
 				// Do not recalculate the offsets, these are done in bulk at the
 				// end
@@ -445,12 +456,9 @@ public class SkeletonConfigManager {
 		}
 
 		// Load toggles
+		Map<String, Boolean> toggles = skeletonConfig.getToggles();
 		for (SkeletonConfigToggles configValue : SkeletonConfigToggles.values) {
-			Boolean val = configManager
-				.getVrConfig()
-				.getSkeleton()
-				.getToggles()
-				.get(configValue.configKey);
+			Boolean val = toggles.get(configValue.configKey);
 			if (val != null) {
 				setToggle(configValue, val);
 			} else if (humanPoseManager != null) {
@@ -459,12 +467,9 @@ public class SkeletonConfigManager {
 		}
 
 		// Load values
+		Map<String, Float> values = skeletonConfig.getValues();
 		for (SkeletonConfigValues configValue : SkeletonConfigValues.values) {
-			Float val = configManager
-				.getVrConfig()
-				.getSkeleton()
-				.getValues()
-				.get(configValue.configKey);
+			Float val = values.get(configValue.configKey);
 			if (val != null) {
 				setValue(configValue, val);
 			} else if (humanPoseManager != null) {