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Messy race condition patch for constraints

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Butterscotch!
2025-09-04 06:50:34 -04:00
parent 4568ebb41a
commit 75fa1aa1e2
1 changed files with 7 additions and 7 deletions
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14
server/core/src/main/java/dev/slimevr/tracking/processor/Constraint.kt
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@@ -52,11 +52,13 @@ class Constraint(
if (constraintType == ConstraintType.COMPLETE) return thisBone.getGlobalRotation()
// If there is no parent and this is not a complete constraint accept the rotation as is.
if (thisBone.parent == null) return rotation
// TODO: This was changed due to a race condition with the RPC thread, see
// https://github.com/SlimeVR/SlimeVR-Server/issues/1534 for more information.
val parent = thisBone.parent ?: return rotation
val localRotation = getLocalRotation(rotation, thisBone)
val localRotation = getLocalRotation(rotation, thisBone, parent)
val constrainedRotation = constraintFunction(localRotation, swingRad, twistRad, allowedDeviationRad)
return getWorldRotationFromLocal(constrainedRotation, thisBone)
return getWorldRotationFromLocal(constrainedRotation, thisBone, parent)
}
/**
@@ -90,14 +92,12 @@ class Constraint(
ConstraintType.LOOSE_HINGE -> looseHingeConstraint
}
private fun getLocalRotation(rotation: Quaternion, thisBone: Bone): Quaternion {
val parent = thisBone.parent!!
private fun getLocalRotation(rotation: Quaternion, thisBone: Bone, parent: Bone): Quaternion {
val localRotationOffset = parent.rotationOffset.inv() * thisBone.rotationOffset
return (parent.getGlobalRotation() * localRotationOffset).inv() * rotation
}
private fun getWorldRotationFromLocal(rotation: Quaternion, thisBone: Bone): Quaternion {
val parent = thisBone.parent!!
private fun getWorldRotationFromLocal(rotation: Quaternion, thisBone: Bone, parent: Bone): Quaternion {
val localRotationOffset = parent.rotationOffset.inv() * thisBone.rotationOffset
return (parent.getGlobalRotation() * localRotationOffset * rotation).unit()
}