Update Kotlin and gradle plugins (#957)

2026-04-05 18:01:56 +02:00 · 2024-03-14 17:00:38 -03:00
parent d53de4a793
commit a8557474cb
63 changed files with 742 additions and 877 deletions
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -1,3 +1,3 @@
 plugins {
-	id("org.ajoberstar.grgit") version "5.2.0"
+	id("org.ajoberstar.grgit")
 }
--- a/gradle.properties
+++ b/gradle.properties
@@ -13,7 +13,8 @@ android.useAndroidX=true
 android.nonTransitiveRClass=true
 org.gradle.unsafe.configuration-cache=false

-kotlinVersion=1.9.0-RC
-spotlessVersion=6.12.0
+kotlinVersion=1.9.23
+spotlessVersion=6.25.0
 shadowJarVersion=8.1.1
-buildconfigVersion=3.1.0
+buildconfigVersion=5.3.5
+grgitVersion=5.2.2
--- a/server/android/build.gradle.kts
+++ b/server/android/build.gradle.kts
@@ -84,36 +84,26 @@ dependencies {
 	implementation("com.github.mik3y:usb-serial-for-android:3.7.0")
 }

-/**
- * The android block is where you configure all your Android-specific
- * build options.
- */
-
+// The android block is where you configure all your Android-specific build options.
 extra.apply {
 	set("gitVersionCode", grgit.tag.list().size)
 	set("gitVersionName", grgit.describe(mapOf("tags" to true, "always" to true)))
 }
 android {
-	/**
-	 * The app's namespace. Used primarily to access app resources.
-	 */
+	// The app's namespace. Used primarily to access app resources.

 	namespace = "dev.slimevr.android"

-	/**
-	 * compileSdk specifies the Android API level Gradle should use to
-	 * compile your app. This means your app can use the API features included in
-	 * this API level and lower.
-	 */
+	/* compileSdk specifies the Android API level Gradle should use to
+		compile your app. This means your app can use the API features included in
+		this API level and lower. */

 	compileSdk = 33

-	/**
-	 * The defaultConfig block encapsulates default settings and entries for all
-	 * build variants and can override some attributes in main/AndroidManifest.xml
-	 * dynamically from the build system. You can configure product flavors to override
-	 * these values for different versions of your app.
-	 */
+	/* The defaultConfig block encapsulates default settings and entries for all
+		build variants and can override some attributes in main/AndroidManifest.xml
+		dynamically from the build system. You can configure product flavors to override
+		these values for different versions of your app. */

 	packaging {
 		resources.excludes.add("META-INF/*")
@@ -139,26 +129,22 @@ android {
 		testInstrumentationRunner = "androidx.test.runner.AndroidJUnitRunner"
 	}

-	/**
-	 * The buildTypes block is where you can configure multiple build types.
-	 * By default, the build system defines two build types: debug and release. The
-	 * debug build type is not explicitly shown in the default build configuration,
-	 * but it includes debugging tools and is signed with the debug key. The release
-	 * build type applies ProGuard settings and is not signed by default.
-	 */
+	/*	The buildTypes block is where you can configure multiple build types.
+		By default, the build system defines two build types: debug and release. The
+		debug build type is not explicitly shown in the default build configuration,
+		but it includes debugging tools and is signed with the debug key. The release
+		build type applies ProGuard settings and is not signed by default. */

 	buildTypes {

-		/**
-		 * By default, Android Studio configures the release build type to enable code
-		 * shrinking, using minifyEnabled, and specifies the default ProGuard rules file.
-		 */
+		/*	By default, Android Studio configures the release build type to enable code
+			shrinking, using minifyEnabled, and specifies the default ProGuard rules file. */

 		getByName("release") {
 			isMinifyEnabled = true // Enables code shrinking for the release build type.
 			proguardFiles(
 				getDefaultProguardFile("proguard-android.txt"),
-				"proguard-rules.pro"
+				"proguard-rules.pro",
 			)
 		}
 	}
--- a/server/android/src/main/java/dev/slimevr/android/Main.kt
+++ b/server/android/src/main/java/dev/slimevr/android/Main.kt
@@ -49,7 +49,7 @@ fun main(activity: AppCompatActivity) {
 		try {
 			vrServer = VRServer(
 				configPath = File(activity.filesDir, "vrconfig.yml").absolutePath,
-				serialHandlerProvider = { _ -> AndroidSerialHandler(activity) }
+				serialHandlerProvider = { _ -> AndroidSerialHandler(activity) },
 			)
 			vrServer.start()
 			Keybinding(vrServer)
--- a/server/android/src/main/java/dev/slimevr/android/serial/AndroidSerialHandler.kt
+++ b/server/android/src/main/java/dev/slimevr/android/serial/AndroidSerialHandler.kt
@@ -64,9 +64,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 		startWatchingNewDevices()
 	}

-	private fun getPorts(): List<UsbSerialDriver> {
-		return UsbSerialProber.getDefaultProber().findAllDrivers(manager)
-	}
+	private fun getPorts(): List<UsbSerialDriver> = UsbSerialProber.getDefaultProber().findAllDrivers(manager)

 	private fun startWatchingNewDevices() {
 		if (watchingNewDevices) return
@@ -78,13 +76,13 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 				} catch (t: Throwable) {
 					LogManager.severe(
 						"[SerialHandler] Error while watching for new devices, cancelling the \"getDevicesTimer\".",
-						t
+						t,
 					)
 					getDevicesTimer.cancel()
 				}
 			},
 			0,
-			3000
+			3000,
 		)
 	}

@@ -116,7 +114,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :

 		if (newPort == null) {
 			LogManager.info(
-				"[SerialHandler] No serial ports found to connect to (${lastKnownPorts.size}) total ports"
+				"[SerialHandler] No serial ports found to connect to (${lastKnownPorts.size}) total ports",
 			)
 			return false
 		}
@@ -126,7 +124,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 			if (newPort != port) {
 				LogManager.info(
 					"[SerialHandler] Closing current serial port " +
-						port.descriptivePortName
+						port.descriptivePortName,
 				)
 				closeSerial()
 			} else {
@@ -138,7 +136,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :

 		LogManager.info(
 			"[SerialHandler] Trying to connect to new serial port " +
-				newPort.descriptivePortName
+				newPort.descriptivePortName,
 		)

 		if (!manager.hasPermission(newPort.port.device)) {
@@ -147,7 +145,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 				activity,
 				0,
 				Intent(ACTION_USB_PERMISSION),
-				flags
+				flags,
 			)
 			if (requestingPermission != newPort.portLocation) {
 				println("Requesting permission for ${newPort.portLocation}")
@@ -155,7 +153,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 				requestingPermission = newPort.portLocation
 			}
 			LogManager.warning(
-				"[SerialHandler] Can't open serial port ${newPort.descriptivePortName}, invalid permissions"
+				"[SerialHandler] Can't open serial port ${newPort.descriptivePortName}, invalid permissions",
 			)
 			return false
 		}
@@ -163,7 +161,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 		val connection = manager.openDevice(newPort.port.device)
 		if (connection == null) {
 			LogManager.warning(
-				"[SerialHandler] Can't open serial port ${newPort.descriptivePortName}, connection failed"
+				"[SerialHandler] Can't open serial port ${newPort.descriptivePortName}, connection failed",

 			)
 			return false
@@ -215,7 +213,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 			}
 			listeners.forEach { it.onSerialDisconnected() }
 			LogManager.info(
-				"[SerialHandler] Port ${currentPort?.descriptivePortName} closed okay"
+				"[SerialHandler] Port ${currentPort?.descriptivePortName} closed okay",
 			)
 			usbIoManager?.stop()
 			usbIoManager = null
@@ -223,7 +221,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 		} catch (e: Exception) {
 			LogManager.warning(
 				"[SerialHandler] Error closing port ${currentPort?.descriptivePortName}",
-				e
+				e,
 			)
 		}
 	}
--- a/server/build.gradle.kts
+++ b/server/build.gradle.kts
@@ -27,30 +27,26 @@ configure<com.diffplug.gradle.spotless.SpotlessExtension> {
 	// 	indentWithSpaces(2)  // YAML cannot contain tabs: https://yaml.org/faq.html
 	// }

-	// .editorconfig doesn't work so, manual override
-	// https://github.com/diffplug/spotless/issues/142
 	val editorConfig =
 		mapOf(
-			"indent_size" to 4,
-			"indent_style" to "tab",
-// 			"max_line_length" to 88,
+			"max_line_length" to "off",
 			"ktlint_experimental" to "enabled",
+			"ktlint_standard_condition-wrapping" to "disabled",
+			"ktlint_standard_property-naming" to "disabled",
 			"ij_kotlin_packages_to_use_import_on_demand" to
 				"java.util.*,kotlin.math.*,dev.slimevr.autobone.errors.*,io.github.axisangles.ktmath.*,kotlinx.atomicfu.*",
-			"ij_kotlin_allow_trailing_comma" to true
+			"ij_kotlin_allow_trailing_comma" to true,
 		)
-	val ktlintVersion = "0.47.1"
+	val ktlintVersion = "1.2.1"
 	kotlinGradle {
 		target("**/*.gradle.kts") // default target for kotlinGradle
 		ktlint(ktlintVersion)
-			.setUseExperimental(true)
 			.editorConfigOverride(editorConfig)
 	}
 	kotlin {
 		target("**/*.kt")
-		targetExclude("**/build/**/**.kt")
+		targetExclude("**/build/**/**.kt", "bin/")
 		ktlint(ktlintVersion)
-			.setUseExperimental(true)
 			.editorConfigOverride(editorConfig)
 	}
 	java {
--- a/server/core/build.gradle.kts
+++ b/server/core/build.gradle.kts
@@ -65,7 +65,7 @@ dependencies {
 	implementation("com.illposed.osc:javaosc-core:0.8")
 	implementation("org.java-websocket:Java-WebSocket:1.+")
 	implementation("com.melloware:jintellitype:1.+")
-	implementation("org.jetbrains.kotlinx:kotlinx-serialization-json:1.5.1")
+	implementation("org.jetbrains.kotlinx:kotlinx-serialization-json:1.6.3")
 	implementation("it.unimi.dsi:fastutil:8.5.12")

 	testImplementation(kotlin("test"))
--- a/server/core/src/main/java/dev/slimevr/VRServer.kt
+++ b/server/core/src/main/java/dev/slimevr/VRServer.kt
@@ -117,7 +117,7 @@ class VRServer @JvmOverloads constructor(
 		LogManager.info("Starting the tracker server on port $trackerPort...")
 		trackersServer = TrackersUDPServer(
 			trackerPort,
-			"Sensors UDP server"
+			"Sensors UDP server",
 		) { tracker: Tracker -> registerTracker(tracker) }

 		// Start bridges for SteamVR and Feeder
@@ -143,13 +143,13 @@ class VRServer @JvmOverloads constructor(
 			humanPoseManager,
 			driverBridge,
 			configManager.vrConfig.vrcOSC,
-			computedTrackers
+			computedTrackers,
 		)
 		vMCHandler = VMCHandler(
 			this,
 			humanPoseManager,
 			configManager.vrConfig.vmc,
-			computedTrackers
+			computedTrackers,
 		)

 		// Initialize OSC router
@@ -279,7 +279,7 @@ class VRServer @JvmOverloads constructor(
 	fun updateSkeletonModel() {
 		queueTask { humanPoseManager.updateSkeletonModelFromServer() }
 		vrcOSCHandler.setHeadTracker(
-			TrackerUtils.getTrackerForSkeleton(trackers, TrackerPosition.HEAD)
+			TrackerUtils.getTrackerForSkeleton(trackers, TrackerPosition.HEAD),
 		)
 	}

@@ -398,9 +398,7 @@ class VRServer @JvmOverloads constructor(
 			get() = ::instance.isInitialized

 		@JvmStatic
-		fun getNextLocalTrackerId(): Int {
-			return nextLocalTrackerId.incrementAndGet()
-		}
+		fun getNextLocalTrackerId(): Int = nextLocalTrackerId.incrementAndGet()

 		@JvmStatic
 		val currentLocalTrackerId: Int
--- a/server/core/src/main/java/dev/slimevr/autobone/AutoBone.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/AutoBone.kt
@@ -25,7 +25,7 @@ import java.util.function.Function
 class AutoBone(server: VRServer) {
 	// This is filled by loadConfigValues()
 	val offsets = EnumMap<SkeletonConfigOffsets, Float>(
-		SkeletonConfigOffsets::class.java
+		SkeletonConfigOffsets::class.java,
 	)
 	val adjustOffsets = FastList(
 		arrayOf(
@@ -39,8 +39,8 @@ class AutoBone(server: VRServer) {
 			// best still, but it is somewhat functional
 			SkeletonConfigOffsets.HIPS_WIDTH,
 			SkeletonConfigOffsets.UPPER_LEG,
-			SkeletonConfigOffsets.LOWER_LEG
-		)
+			SkeletonConfigOffsets.LOWER_LEG,
+		),
 	)

 	var estimatedHeight: Float = 1f
@@ -109,6 +109,7 @@ class AutoBone(server: VRServer) {
 			SkeletonConfigOffsets.LOWER_LEG, SkeletonConfigOffsets.FOOT_LENGTH,
 			->
 				if (rightSide) configOffset.affectedOffsets[1] else configOffset.affectedOffsets[0]
+
 			else -> configOffset.affectedOffsets[0]
 		}
 		return skeleton.getBone(boneType).getGlobalRotation().toRotationVector()
@@ -160,7 +161,7 @@ class AutoBone(server: VRServer) {
 			targetHeight = humanPoseManager.userHeightFromConfig
 			LogManager
 				.warning(
-					"[AutoBone] Target height loaded from skeleton (Make sure you reset before running!): $targetHeight"
+					"[AutoBone] Target height loaded from skeleton (Make sure you reset before running!): $targetHeight",
 				)
 		} else {
 			// Otherwise if there is no skeleton available, attempt to get the
@@ -169,7 +170,7 @@ class AutoBone(server: VRServer) {
 			if (hmdHeight <= 0.4f) {
 				LogManager
 					.warning(
-						"[AutoBone] Max headset height detected (Value seems too low, did you not stand up straight while measuring?): $hmdHeight"
+						"[AutoBone] Max headset height detected (Value seems too low, did you not stand up straight while measuring?): $hmdHeight",
 					)
 			} else {
 				LogManager.info("[AutoBone] Max headset height detected: $hmdHeight")
@@ -217,7 +218,7 @@ class AutoBone(server: VRServer) {
 			targetFullHeight = targetFullHeight,
 			frames = frames,
 			epochCallback = epochCallback,
-			serverConfig = server.configManager
+			serverConfig = server.configManager,
 		)

 		// Initialize the frame order randomizer with a repeatable seed
@@ -252,7 +253,7 @@ class AutoBone(server: VRServer) {
 					trainingStep.setCursors(
 						i,
 						j,
-						updatePlayerCursors = true
+						updatePlayerCursors = true,
 					)

 					frameStats.addValue(getErrorDeriv(trainingStep))
@@ -287,7 +288,7 @@ class AutoBone(server: VRServer) {
 					trainingStep.setCursors(
 						i,
 						j,
-						updatePlayerCursors = true
+						updatePlayerCursors = true,
 					)

 					frameStats.addValue(getErrorDeriv(trainingStep))
@@ -313,14 +314,14 @@ class AutoBone(server: VRServer) {

 		LogManager
 			.info(
-				"[AutoBone] Target height: ${trainingStep.targetHmdHeight}, Final height: $estimatedHeight"
+				"[AutoBone] Target height: ${trainingStep.targetHmdHeight}, Final height: $estimatedHeight",
 			)

 		return AutoBoneResults(
 			estimatedHeight,
 			trainingStep.targetHmdHeight,
 			trainingStep.errorStats,
-			offsets
+			offsets,
 		)
 	}

@@ -367,13 +368,13 @@ class AutoBone(server: VRServer) {
 						.setCursors(
 							randomFrameIndices[frameCursor],
 							randomFrameIndices[frameCursor2],
-							updatePlayerCursors = true
+							updatePlayerCursors = true,
 						)
 				} else {
 					trainingStep.setCursors(
 						frameCursor,
 						frameCursor2,
-						updatePlayerCursors = true
+						updatePlayerCursors = true,
 					)
 				}

@@ -390,11 +391,11 @@ class AutoBone(server: VRServer) {
 		if (epoch <= 0 || epoch >= config.numEpochs - 1 || (epoch + 1) % config.printEveryNumEpochs == 0) {
 			LogManager
 				.info(
-					"[AutoBone] Epoch: ${epoch + 1}, Mean error: ${errorStats.mean} (SD ${errorStats.standardDeviation}), Adjust rate: ${trainingStep.curAdjustRate}"
+					"[AutoBone] Epoch: ${epoch + 1}, Mean error: ${errorStats.mean} (SD ${errorStats.standardDeviation}), Adjust rate: ${trainingStep.curAdjustRate}",
 				)
 			LogManager
 				.info(
-					"[AutoBone] Target height: ${trainingStep.targetHmdHeight}, Estimated height: $estimatedHeight"
+					"[AutoBone] Target height: ${trainingStep.targetHmdHeight}, Estimated height: $estimatedHeight",
 				)
 		}

@@ -459,7 +460,7 @@ class AutoBone(server: VRServer) {
 			// Extinguish
 			LogManager
 				.warning(
-					"[AutoBone] Error value is invalid, resetting variables to recover"
+					"[AutoBone] Error value is invalid, resetting variables to recover",
 				)
 			// Reset adjustable config values
 			loadConfigValues()
@@ -502,14 +503,14 @@ class AutoBone(server: VRServer) {
 				skeleton2,
 				entry.key,
 				false,
-				slideLeft
+				slideLeft,
 			)
 			val rightDotProduct = getDotProductDiff(
 				skeleton1,
 				skeleton2,
 				entry.key,
 				true,
-				slideRight
+				slideRight,
 			)

 			// Calculate the total effect of the bone based on change in rotation
@@ -675,18 +676,18 @@ class AutoBone(server: VRServer) {
 			if (PoseFrameIO.tryWriteToFile(recordingFile, frames)) {
 				LogManager
 					.info(
-						"[AutoBone] Done exporting! Recording can be found at \"${recordingFile.path}\"."
+						"[AutoBone] Done exporting! Recording can be found at \"${recordingFile.path}\".",
 					)
 			} else {
 				LogManager
 					.severe(
-						"[AutoBone] Failed to export the recording to \"${recordingFile.path}\"."
+						"[AutoBone] Failed to export the recording to \"${recordingFile.path}\".",
 					)
 			}
 		} else {
 			LogManager
 				.severe(
-					"[AutoBone] Failed to create the recording directory \"${saveDir.path}\"."
+					"[AutoBone] Failed to create the recording directory \"${saveDir.path}\".",
 				)
 		}
 	}
@@ -713,7 +714,7 @@ class AutoBone(server: VRServer) {

 			LogManager
 				.info(
-					"[AutoBone] Detected recording at \"${file.path}\", loading frames..."
+					"[AutoBone] Detected recording at \"${file.path}\", loading frames...",
 				)
 			val frames = PoseFrameIO.tryReadFromFile(file)
 			if (frames == null) {
@@ -731,9 +732,7 @@ class AutoBone(server: VRServer) {
 		val epochError: StatsCalculator,
 		val configValues: EnumMap<SkeletonConfigOffsets, Float>,
 	) {
-		override fun toString(): String {
-			return "Epoch: $epoch, Epoch error: $epochError"
-		}
+		override fun toString(): String = "Epoch: $epoch, Epoch error: $epochError"
 	}

 	inner class AutoBoneResults(
@@ -753,22 +752,18 @@ class AutoBone(server: VRServer) {
 		// FIXME: Won't work on iOS and Android, maybe fix resolveConfigDirectory more than this
 		val saveDir = File(
 			OperatingSystem.resolveConfigDirectory(SLIMEVR_IDENTIFIER)?.resolve(
-				AUTOBONE_FOLDER
-			)?.toString() ?: AUTOBONE_FOLDER
+				AUTOBONE_FOLDER,
+			)?.toString() ?: AUTOBONE_FOLDER,
 		)
 		val loadDir = File(
 			OperatingSystem.resolveConfigDirectory(SLIMEVR_IDENTIFIER)?.resolve(
-				LOADAUTOBONE_FOLDER
-			)?.toString() ?: LOADAUTOBONE_FOLDER
+				LOADAUTOBONE_FOLDER,
+			)?.toString() ?: LOADAUTOBONE_FOLDER,
 		)

 		// Mean square error function
-		private fun errorFunc(errorDeriv: Float): Float {
-			return 0.5f * (errorDeriv * errorDeriv)
-		}
+		private fun errorFunc(errorDeriv: Float): Float = 0.5f * (errorDeriv * errorDeriv)

-		private fun decayFunc(initialAdjustRate: Float, adjustRateDecay: Float, epoch: Int): Float {
-			return if (epoch >= 0) initialAdjustRate / (1 + (adjustRateDecay * epoch)) else 0.0f
-		}
+		private fun decayFunc(initialAdjustRate: Float, adjustRateDecay: Float, epoch: Int): Float = if (epoch >= 0) initialAdjustRate / (1 + (adjustRateDecay * epoch)) else 0.0f
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/autobone/AutoBoneHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/AutoBoneHandler.kt
@@ -59,24 +59,25 @@ class AutoBoneHandler(private val server: VRServer) {
 				total,
 				eta,
 				completed,
-				success
+				success,
 			)
 		}
 	}

 	@Throws(AutoBoneException::class)
-	private fun processFrames(frames: PoseFrames): AutoBoneResults {
-		return autoBone
-			.processFrames(frames) { epoch ->
-				listeners.forEach { listener -> listener.onAutoBoneEpoch(epoch) }
-			}
-	}
+	private fun processFrames(frames: PoseFrames): AutoBoneResults = autoBone
+		.processFrames(frames) { epoch ->
+			listeners.forEach { listener -> listener.onAutoBoneEpoch(epoch) }
+		}

 	fun startProcessByType(processType: AutoBoneProcessType?): Boolean {
 		when (processType) {
 			AutoBoneProcessType.RECORD -> startRecording()
+
 			AutoBoneProcessType.SAVE -> saveRecording()
+
 			AutoBoneProcessType.PROCESS -> processRecording()
+
 			else -> {
 				return false
 			}
@@ -108,13 +109,13 @@ class AutoBoneHandler(private val server: VRServer) {
 				val framesFuture = poseRecorder
 					.startFrameRecording(
 						sampleCount,
-						sampleRate
+						sampleRate,
 					) { progress: RecordingProgress ->
 						announceProcessStatus(
 							AutoBoneProcessType.RECORD,
 							current = progress.frame.toLong(),
 							total = progress.totalFrames.toLong(),
-							eta = totalTime - (progress.frame * totalTime / progress.totalFrames)
+							eta = totalTime - (progress.frame * totalTime / progress.totalFrames),
 						)
 					}
 				val frames = framesFuture.get()
@@ -126,7 +127,7 @@ class AutoBoneHandler(private val server: VRServer) {
 				if (autoBone.globalConfig.saveRecordings) {
 					announceProcessStatus(
 						AutoBoneProcessType.RECORD,
-						"Saving recording (from config option)..."
+						"Saving recording (from config option)...",
 					)
 					autoBone.saveRecording(frames)
 				}
@@ -135,14 +136,14 @@ class AutoBoneHandler(private val server: VRServer) {
 					AutoBoneProcessType.RECORD,
 					"Done recording!",
 					completed = true,
-					success = true
+					success = true,
 				)
 			} else {
 				announceProcessStatus(
 					AutoBoneProcessType.RECORD,
 					"The server is not ready to record",
 					completed = true,
-					success = false
+					success = false,
 				)
 				LogManager.severe("[AutoBone] Unable to record...")
 				return
@@ -152,7 +153,7 @@ class AutoBoneHandler(private val server: VRServer) {
 				AutoBoneProcessType.RECORD,
 				String.format("Recording failed: %s", e.message),
 				completed = true,
-				success = false
+				success = false,
 			)
 			LogManager.severe("[AutoBone] Failed recording!", e)
 		} finally {
@@ -196,14 +197,14 @@ class AutoBoneHandler(private val server: VRServer) {
 					AutoBoneProcessType.SAVE,
 					"Recording saved!",
 					completed = true,
-					success = true
+					success = true,
 				)
 			} else {
 				announceProcessStatus(
 					AutoBoneProcessType.SAVE,
 					"No recording found",
 					completed = true,
-					success = false
+					success = false,
 				)
 				LogManager.severe("[AutoBone] Unable to save, no recording was done...")
 				return
@@ -213,7 +214,7 @@ class AutoBoneHandler(private val server: VRServer) {
 				AutoBoneProcessType.SAVE,
 				String.format("Failed to save recording: %s", e.message),
 				completed = true,
-				success = false
+				success = false,
 			)
 			LogManager.severe("[AutoBone] Failed to save recording!", e)
 		} finally {
@@ -250,11 +251,11 @@ class AutoBoneHandler(private val server: VRServer) {
 						AutoBoneProcessType.PROCESS,
 						"No recordings found...",
 						completed = true,
-						success = false
+						success = false,
 					)
 					LogManager
 						.severe(
-							"[AutoBone] No recordings found in \"${loadDir.path}\" and no recording was done..."
+							"[AutoBone] No recordings found in \"${loadDir.path}\" and no recording was done...",
 						)
 					return
 				}
@@ -263,7 +264,7 @@ class AutoBoneHandler(private val server: VRServer) {
 			LogManager.info("[AutoBone] Processing frames...")
 			val errorStats = StatsCalculator()
 			val offsetStats = EnumMap<SkeletonConfigOffsets, StatsCalculator>(
-				SkeletonConfigOffsets::class.java
+				SkeletonConfigOffsets::class.java,
 			)
 			val skeletonConfigManagerBuffer = SkeletonConfigManager(false)
 			for ((key, value) in frameRecordings) {
@@ -314,8 +315,8 @@ class AutoBoneHandler(private val server: VRServer) {
 			LogManager
 				.info(
 					"[AutoBone] Average height error: ${
-					StringUtils.prettyNumber(errorStats.mean, 6)
-					} (SD ${StringUtils.prettyNumber(errorStats.standardDeviation, 6)})"
+						StringUtils.prettyNumber(errorStats.mean, 6)
+					} (SD ${StringUtils.prettyNumber(errorStats.standardDeviation, 6)})",
 				)
 			// #endregion
 			listeners.forEach { listener: AutoBoneListener -> listener.onAutoBoneEnd(autoBone.offsets) }
@@ -323,14 +324,14 @@ class AutoBoneHandler(private val server: VRServer) {
 				AutoBoneProcessType.PROCESS,
 				"Done processing!",
 				completed = true,
-				success = true
+				success = true,
 			)
 		} catch (e: Exception) {
 			announceProcessStatus(
 				AutoBoneProcessType.PROCESS,
 				String.format("Processing failed: %s", e.message),
 				completed = true,
-				success = false
+				success = false,
 			)
 			LogManager.severe("[AutoBone] Failed adjustment!", e)
 		} finally {
@@ -394,12 +395,12 @@ class AutoBoneHandler(private val server: VRServer) {

 		LogManager.info(
 			"[AutoBone] Ratios: [{Neck-Torso: ${
-			StringUtils.prettyNumber(neckTorso)}}, {Chest-Torso: ${
-			StringUtils.prettyNumber(chestTorso)}}, {Torso-Waist: ${
-			StringUtils.prettyNumber(torsoWaist)}}, {Leg-Torso: ${
-			StringUtils.prettyNumber(legTorso)}}, {Leg-Body: ${
-			StringUtils.prettyNumber(legBody)}}, {Knee-Leg: ${
-			StringUtils.prettyNumber(kneeLeg)}}]"
+				StringUtils.prettyNumber(neckTorso)}}, {Chest-Torso: ${
+				StringUtils.prettyNumber(chestTorso)}}, {Torso-Waist: ${
+				StringUtils.prettyNumber(torsoWaist)}}, {Leg-Torso: ${
+				StringUtils.prettyNumber(legTorso)}}, {Leg-Body: ${
+				StringUtils.prettyNumber(legBody)}}, {Knee-Leg: ${
+				StringUtils.prettyNumber(kneeLeg)}}]",
 		)
 	}

--- a/server/core/src/main/java/dev/slimevr/autobone/AutoBoneProcessType.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/AutoBoneProcessType.kt
@@ -1,7 +1,11 @@
 package dev.slimevr.autobone

 enum class AutoBoneProcessType(val id: Int) {
-	NONE(0), RECORD(1), SAVE(2), PROCESS(3);
+	NONE(0),
+	RECORD(1),
+	SAVE(2),
+	PROCESS(3),
+	;

 	companion object {
 		fun getById(id: Int): AutoBoneProcessType? = byId[id]
--- a/server/core/src/main/java/dev/slimevr/autobone/StatsCalculator.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/StatsCalculator.kt
@@ -27,9 +27,17 @@ class StatsCalculator {
 	}

 	val variance: Float
-		get() = if (count < 1) { Float.NaN } else { m2 / count }
+		get() = if (count < 1) {
+			Float.NaN
+		} else {
+			m2 / count
+		}
 	val sampleVariance: Float
-		get() = if (count < 2) { Float.NaN } else { m2 / (count - 1) }
+		get() = if (count < 2) {
+			Float.NaN
+		} else {
+			m2 / (count - 1)
+		}
 	val standardDeviation: Float
 		get() = FastMath.sqrt(variance)
 }
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/BodyProportionError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/BodyProportionError.kt
@@ -10,13 +10,11 @@ import dev.slimevr.tracking.processor.config.SkeletonConfigOffsets
 // The distance from average human proportions
 class BodyProportionError : IAutoBoneError {
 	@Throws(AutoBoneException::class)
-	override fun getStepError(trainingStep: AutoBoneStep): Float {
-		return getBodyProportionError(
-			trainingStep.skeleton1,
-			// Skeletons are now normalized to reduce bias, so height is always 1
-			1f
-		)
-	}
+	override fun getStepError(trainingStep: AutoBoneStep): Float = getBodyProportionError(
+		trainingStep.skeleton1,
+		// Skeletons are now normalized to reduce bias, so height is always 1
+		1f,
+	)

 	fun getBodyProportionError(humanPoseManager: HumanPoseManager, fullHeight: Float): Float {
 		var sum = 0f
@@ -54,7 +52,7 @@ class BodyProportionError : IAutoBoneError {
 			RangeProportionLimiter(
 				0.059f,
 				SkeletonConfigOffsets.HEAD,
-				0.01f
+				0.01f,
 			),
 			// Neck
 			// Expected: 0.052
@@ -62,35 +60,35 @@ class BodyProportionError : IAutoBoneError {
 			RangeProportionLimiter(
 				0.054f,
 				SkeletonConfigOffsets.NECK,
-				0.0015f
+				0.0015f,
 			),
 			// Upper Chest
 			// Experimental: 0.0945
 			RangeProportionLimiter(
 				0.0945f,
 				SkeletonConfigOffsets.UPPER_CHEST,
-				0.01f
+				0.01f,
 			),
 			// Chest
 			// Experimental: 0.0945
 			RangeProportionLimiter(
 				0.0945f,
 				SkeletonConfigOffsets.CHEST,
-				0.01f
+				0.01f,
 			),
 			// Waist
 			// Experimental: 0.118
 			RangeProportionLimiter(
 				0.118f,
 				SkeletonConfigOffsets.WAIST,
-				0.05f
+				0.05f,
 			),
 			// Hip
 			// Experimental: 0.0237
 			RangeProportionLimiter(
 				0.0237f,
 				SkeletonConfigOffsets.HIP,
-				0.01f
+				0.01f,
 			),
 			// Hip Width
 			// Expected: 0.191
@@ -98,14 +96,14 @@ class BodyProportionError : IAutoBoneError {
 			RangeProportionLimiter(
 				0.184f,
 				SkeletonConfigOffsets.HIPS_WIDTH,
-				0.04f
+				0.04f,
 			),
 			// Upper Leg
 			// Expected: 0.245
 			RangeProportionLimiter(
 				0.245f,
 				SkeletonConfigOffsets.UPPER_LEG,
-				0.015f
+				0.015f,
 			),
 			// Lower Leg
 			// Expected: 0.246 (0.285 including below ankle, could use a separate
@@ -113,8 +111,8 @@ class BodyProportionError : IAutoBoneError {
 			RangeProportionLimiter(
 				0.285f,
 				SkeletonConfigOffsets.LOWER_LEG,
-				0.02f
-			)
+				0.02f,
+			),
 		)

 		@JvmStatic
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/FootHeightOffsetError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/FootHeightOffsetError.kt
@@ -9,12 +9,10 @@ import dev.slimevr.tracking.trackers.TrackerRole
 // The offset between the height both feet at one instant and over time
 class FootHeightOffsetError : IAutoBoneError {
 	@Throws(AutoBoneException::class)
-	override fun getStepError(trainingStep: AutoBoneStep): Float {
-		return getSlideError(
-			trainingStep.skeleton1.skeleton,
-			trainingStep.skeleton2.skeleton
-		)
-	}
+	override fun getStepError(trainingStep: AutoBoneStep): Float = getSlideError(
+		trainingStep.skeleton1.skeleton,
+		trainingStep.skeleton2.skeleton,
+	)

 	companion object {
 		fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float {
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/HeightError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/HeightError.kt
@@ -6,14 +6,10 @@ import dev.slimevr.autobone.AutoBoneStep
 // The difference from the current height to the target height
 class HeightError : IAutoBoneError {
 	@Throws(AutoBoneException::class)
-	override fun getStepError(trainingStep: AutoBoneStep): Float {
-		return getHeightError(
-			trainingStep.currentHmdHeight,
-			trainingStep.targetHmdHeight
-		)
-	}
+	override fun getStepError(trainingStep: AutoBoneStep): Float = getHeightError(
+		trainingStep.currentHmdHeight,
+		trainingStep.targetHmdHeight,
+	)

-	fun getHeightError(currentHeight: Float, targetHeight: Float): Float {
-		return FastMath.abs(targetHeight - currentHeight)
-	}
+	fun getHeightError(currentHeight: Float, targetHeight: Float): Float = FastMath.abs(targetHeight - currentHeight)
 }
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/OffsetSlideError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/OffsetSlideError.kt
@@ -9,12 +9,10 @@ import dev.slimevr.tracking.trackers.TrackerRole
 // The change in distance between both of the ankles over time
 class OffsetSlideError : IAutoBoneError {
 	@Throws(AutoBoneException::class)
-	override fun getStepError(trainingStep: AutoBoneStep): Float {
-		return getSlideError(
-			trainingStep.skeleton1.skeleton,
-			trainingStep.skeleton2.skeleton
-		)
-	}
+	override fun getStepError(trainingStep: AutoBoneStep): Float = getSlideError(
+		trainingStep.skeleton1.skeleton,
+		trainingStep.skeleton2.skeleton,
+	)

 	companion object {
 		fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float {
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/PositionError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/PositionError.kt
@@ -14,12 +14,12 @@ class PositionError : IAutoBoneError {
 				getPositionError(
 					trackers,
 					trainingStep.cursor1,
-					trainingStep.skeleton1.skeleton
+					trainingStep.skeleton1.skeleton,
 				) +
 					getPositionError(
 						trackers,
 						trainingStep.cursor2,
-						trainingStep.skeleton2.skeleton
+						trainingStep.skeleton2.skeleton,
 					)
 				) /
 				2f
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/PositionOffsetError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/PositionOffsetError.kt
@@ -15,7 +15,7 @@ class PositionOffsetError : IAutoBoneError {
 			trainingStep.cursor1,
 			trainingStep.cursor2,
 			trainingStep.skeleton1.skeleton,
-			trainingStep.skeleton2.skeleton
+			trainingStep.skeleton2.skeleton,
 		)
 	}

--- a/server/core/src/main/java/dev/slimevr/autobone/errors/SlideError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/SlideError.kt
@@ -8,12 +8,10 @@ import dev.slimevr.tracking.trackers.TrackerRole
 // The change in position of the ankle over time
 class SlideError : IAutoBoneError {
 	@Throws(AutoBoneException::class)
-	override fun getStepError(trainingStep: AutoBoneStep): Float {
-		return getSlideError(
-			trainingStep.skeleton1.skeleton,
-			trainingStep.skeleton2.skeleton
-		)
-	}
+	override fun getStepError(trainingStep: AutoBoneStep): Float = getSlideError(
+		trainingStep.skeleton1.skeleton,
+		trainingStep.skeleton2.skeleton,
+	)

 	companion object {
 		fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float {
@@ -32,7 +30,7 @@ class SlideError : IAutoBoneError {
 			// Calculate and average between both feet
 			return getSlideError(
 				skeleton1.getComputedTracker(trackerRole),
-				skeleton2.getComputedTracker(trackerRole)
+				skeleton2.getComputedTracker(trackerRole),
 			)
 		}

--- a/server/core/src/main/java/dev/slimevr/config/VRCOSCConfig.kt
+++ b/server/core/src/main/java/dev/slimevr/config/VRCOSCConfig.kt
@@ -14,9 +14,7 @@ class VRCOSCConfig : OSCConfig() {
 	@JsonSerialize(keyUsing = StdKeySerializers.StringKeySerializer::class)
 	var trackers: MutableMap<String, Boolean> = HashMap()
 	
-	fun getOSCTrackerRole(role: TrackerRole, def: Boolean): Boolean {
-		return trackers.getOrDefault(role.name.lowercase(Locale.getDefault()), def)
-	}
+	fun getOSCTrackerRole(role: TrackerRole, def: Boolean): Boolean = trackers.getOrDefault(role.name.lowercase(Locale.getDefault()), def)

 	fun setOSCTrackerRole(role: TrackerRole, `val`: Boolean) {
 		trackers[role.name.lowercase(Locale.getDefault())] = `val`
--- a/server/core/src/main/java/dev/slimevr/filtering/TrackerFilters.kt
+++ b/server/core/src/main/java/dev/slimevr/filtering/TrackerFilters.kt
@@ -29,8 +29,6 @@ enum class TrackerFilters(val id: Int, val configKey: String) {
 		}

 		@JvmStatic
-		fun getByConfigkey(configKey: String?): TrackerFilters? {
-			return if (configKey == null) null else byConfigkey[configKey.lowercase(Locale.getDefault())]
-		}
+		fun getByConfigkey(configKey: String?): TrackerFilters? = if (configKey == null) null else byConfigkey[configKey.lowercase(Locale.getDefault())]
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/osc/UnityArmature.kt
+++ b/server/core/src/main/java/dev/slimevr/osc/UnityArmature.kt
@@ -170,33 +170,31 @@ class UnityArmature(localRot: Boolean) {
 		}
 	}

-	fun getHeadNodeOfBone(unityBone: UnityBone?): TransformNode? {
-		return if (unityBone == null) {
-			null
-		} else {
-			when (unityBone) {
-				UnityBone.HEAD -> neckTailNode
-				UnityBone.NECK -> neckHeadNode
-				UnityBone.UPPER_CHEST -> chestNode
-				UnityBone.CHEST -> spineTailNode
-				UnityBone.SPINE -> spineHeadNode
-				UnityBone.HIPS -> hipsNode
-				UnityBone.LEFT_UPPER_LEG -> leftHipNode
-				UnityBone.RIGHT_UPPER_LEG -> rightHipNode
-				UnityBone.LEFT_LOWER_LEG -> leftKneeNode
-				UnityBone.RIGHT_LOWER_LEG -> rightKneeNode
-				UnityBone.LEFT_FOOT -> leftAnkleNode
-				UnityBone.RIGHT_FOOT -> rightAnkleNode
-				UnityBone.LEFT_SHOULDER -> leftShoulderHeadNode
-				UnityBone.RIGHT_SHOULDER -> rightShoulderHeadNode
-				UnityBone.LEFT_UPPER_ARM -> leftShoulderTailNode
-				UnityBone.RIGHT_UPPER_ARM -> rightShoulderTailNode
-				UnityBone.LEFT_LOWER_ARM -> leftElbowNode
-				UnityBone.RIGHT_LOWER_ARM -> rightElbowNode
-				UnityBone.LEFT_HAND -> leftWristNode
-				UnityBone.RIGHT_HAND -> rightWristNode
-				else -> null
-			}
+	fun getHeadNodeOfBone(unityBone: UnityBone?): TransformNode? = if (unityBone == null) {
+		null
+	} else {
+		when (unityBone) {
+			UnityBone.HEAD -> neckTailNode
+			UnityBone.NECK -> neckHeadNode
+			UnityBone.UPPER_CHEST -> chestNode
+			UnityBone.CHEST -> spineTailNode
+			UnityBone.SPINE -> spineHeadNode
+			UnityBone.HIPS -> hipsNode
+			UnityBone.LEFT_UPPER_LEG -> leftHipNode
+			UnityBone.RIGHT_UPPER_LEG -> rightHipNode
+			UnityBone.LEFT_LOWER_LEG -> leftKneeNode
+			UnityBone.RIGHT_LOWER_LEG -> rightKneeNode
+			UnityBone.LEFT_FOOT -> leftAnkleNode
+			UnityBone.RIGHT_FOOT -> rightAnkleNode
+			UnityBone.LEFT_SHOULDER -> leftShoulderHeadNode
+			UnityBone.RIGHT_SHOULDER -> rightShoulderHeadNode
+			UnityBone.LEFT_UPPER_ARM -> leftShoulderTailNode
+			UnityBone.RIGHT_UPPER_ARM -> rightShoulderTailNode
+			UnityBone.LEFT_LOWER_ARM -> leftElbowNode
+			UnityBone.RIGHT_LOWER_ARM -> rightElbowNode
+			UnityBone.LEFT_HAND -> leftWristNode
+			UnityBone.RIGHT_HAND -> rightWristNode
+			else -> null
 		}
 	}

--- a/server/core/src/main/java/dev/slimevr/osc/VRCOSCHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/osc/VRCOSCHandler.kt
@@ -75,7 +75,7 @@ class VRCOSCHandler(
 				trackersEnabled[i] = config
 					.getOSCTrackerRole(
 						computedTrackers[i].trackerPosition!!.trackerRole!!,
-						false
+						false,
 					)
 			} else {
 				trackersEnabled[i] = false
@@ -110,7 +110,7 @@ class VRCOSCHandler(
 						"[VRCOSCHandler] Error listening to the port " +
 							config.portIn +
 							": " +
-							e
+							e,
 					)
 			}

@@ -118,13 +118,13 @@ class VRCOSCHandler(
 			if (oscReceiver != null) {
 				val listener = OSCMessageListener { event: OSCMessageEvent -> handleReceivedMessage(event) }
 				val vrcSelector: MessageSelector = OSCPatternAddressMessageSelector(
-					"/avatar/parameters/Upright"
+					"/avatar/parameters/Upright",
 				)
 				val trackersPositionSelector: MessageSelector = OSCPatternAddressMessageSelector(
-					"/tracking/trackers/*/position"
+					"/tracking/trackers/*/position",
 				)
 				val trackersRotationSelector: MessageSelector = OSCPatternAddressMessageSelector(
-					"/tracking/trackers/*/rotation"
+					"/tracking/trackers/*/rotation",
 				)
 				oscReceiver!!.dispatcher.addListener(vrcSelector, listener)
 				oscReceiver!!.dispatcher.addListener(trackersPositionSelector, listener)
@@ -140,13 +140,13 @@ class VRCOSCHandler(
 				val address = InetAddress.getByName(config.address)
 				val port = config.portOut
 				oscSender = OSCPortOut(InetSocketAddress(address, port))
-				if (lastPortOut != port && lastAddress !== address || !wasConnected) {
+				if ((lastPortOut != port && lastAddress !== address) || !wasConnected) {
 					LogManager
 						.info(
 							"[VRCOSCHandler] Sending to port " +
 								port +
 								" at address " +
-								address.toString()
+								address.toString(),
 						)
 				}
 				lastPortOut = port
@@ -160,7 +160,7 @@ class VRCOSCHandler(
 							" at the address " +
 							config.address +
 							": " +
-							e
+							e,
 					)
 			}
 		}
@@ -194,7 +194,7 @@ class VRCOSCHandler(
 							hasPosition = true,
 							userEditable = false,
 							isComputed = true,
-							usesTimeout = true
+							usesTimeout = true,
 						)
 						vrcDevice.trackers[0] = vrcHmd!!
 						server.registerTracker(vrcHmd!!)
@@ -211,7 +211,7 @@ class VRCOSCHandler(
 						event
 							.message
 							.arguments[0] as Float * humanPoseManager.userHeightFromConfig,
-						0f
+						0f,
 					)
 					vrcHmd!!.dataTick()
 				}
@@ -233,7 +233,7 @@ class VRCOSCHandler(
 						receivingPositionOffset = Vector3(
 							event.message.arguments[0] as Float,
 							event.message.arguments[1] as Float,
-							-(event.message.arguments[2] as Float)
+							-(event.message.arguments[2] as Float),
 						)

 						if (slimeHead != null && slimeHead.hasPosition) {
@@ -276,7 +276,7 @@ class VRCOSCHandler(
 							userEditable = true,
 							isComputed = true,
 							needsReset = true,
-							usesTimeout = true
+							usesTimeout = true,
 						)
 						oscTrackersDevice!!.trackers[trackerId] = tracker
 						server.registerTracker(tracker)
@@ -290,8 +290,8 @@ class VRCOSCHandler(
 							Vector3(
 								event.message.arguments[0] as Float,
 								event.message.arguments[1] as Float,
-								-(event.message.arguments[2] as Float)
-							) - receivingPositionOffset
+								-(event.message.arguments[2] as Float),
+							) - receivingPositionOffset,
 						) + postReceivingPositionOffset
 					} else {
 						val (w, x, y, z) = EulerAngles(EulerOrder.YXZ, event.message.arguments[0] as Float * FastMath.DEG_TO_RAD, event.message.arguments[1] as Float * FastMath.DEG_TO_RAD, event.message.arguments[2] as Float * FastMath.DEG_TO_RAD).toQuaternion()
@@ -334,8 +334,8 @@ class VRCOSCHandler(
 					bundle.addPacket(
 						OSCMessage(
 							"/tracking/trackers/${getVRCOSCTrackersId(computedTrackers[i].trackerPosition)}/position",
-							oscArgs.clone()
-						)
+							oscArgs.clone(),
+						),
 					)

 					// Send regular trackers' rotations
@@ -351,7 +351,7 @@ class VRCOSCHandler(
 						w,
 						-x1,
 						-y1,
-						z1
+						z1,
 					).toEulerAngles(EulerOrder.YXZ)
 					oscArgs.clear()
 					oscArgs.add(x2 * FastMath.RAD_TO_DEG)
@@ -360,8 +360,8 @@ class VRCOSCHandler(
 					bundle.addPacket(
 						OSCMessage(
 							"/tracking/trackers/${getVRCOSCTrackersId(computedTrackers[i].trackerPosition)}/rotation",
-							oscArgs.clone()
-						)
+							oscArgs.clone(),
+						),
 					)
 				}
 				if (computedTrackers[i].trackerPosition === TrackerPosition.HEAD) {
@@ -374,8 +374,8 @@ class VRCOSCHandler(
 					bundle.addPacket(
 						OSCMessage(
 							"/tracking/trackers/head/position",
-							oscArgs.clone()
-						)
+							oscArgs.clone(),
+						),
 					)
 				}
 			}
@@ -431,7 +431,7 @@ class VRCOSCHandler(
 			oscArgs.add(0f)
 			oscMessage = OSCMessage(
 				"/tracking/trackers/head/rotation",
-				oscArgs
+				oscArgs,
 			)
 			try {
 				oscSender!!.send(oscMessage)
@@ -445,23 +445,13 @@ class VRCOSCHandler(
 		}
 	}

-	override fun getOscSender(): OSCPortOut {
-		return oscSender!!
-	}
+	override fun getOscSender(): OSCPortOut = oscSender!!

-	override fun getPortOut(): Int {
-		return lastPortOut
-	}
+	override fun getPortOut(): Int = lastPortOut

-	override fun getAddress(): InetAddress {
-		return lastAddress!!
-	}
+	override fun getAddress(): InetAddress = lastAddress!!

-	override fun getOscReceiver(): OSCPortIn {
-		return oscReceiver!!
-	}
+	override fun getOscReceiver(): OSCPortIn = oscReceiver!!

-	override fun getPortIn(): Int {
-		return lastPortIn
-	}
+	override fun getPortIn(): Int = lastPortIn
 }
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/PoseFrameIO.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/PoseFrameIO.kt
@@ -85,7 +85,7 @@ object PoseFrameIO {

 	fun writeToFile(file: File, frames: PoseFrames) {
 		DataOutputStream(
-			BufferedOutputStream(FileOutputStream(file))
+			BufferedOutputStream(FileOutputStream(file)),
 		).use { outputStream -> writeFrames(outputStream, frames) }
 	}

@@ -100,13 +100,11 @@ object PoseFrameIO {
 	}

 	@Throws(IOException::class)
-	private fun readVector3f(inputStream: DataInputStream): Vector3 {
-		return Vector3(
-			inputStream.readFloat(),
-			inputStream.readFloat(),
-			inputStream.readFloat()
-		)
-	}
+	private fun readVector3f(inputStream: DataInputStream): Vector3 = Vector3(
+		inputStream.readFloat(),
+		inputStream.readFloat(),
+		inputStream.readFloat(),
+	)

 	@Throws(IOException::class)
 	private fun readQuaternion(inputStream: DataInputStream): Quaternion {
@@ -125,7 +123,7 @@ object PoseFrameIO {
 			val name = inputStream.readUTF()
 			val trackerFrameCount = inputStream.readInt()
 			val trackerFrames = FastList<TrackerFrame?>(
-				trackerFrameCount
+				trackerFrameCount,
 			)
 			for (j in 0 until trackerFrameCount) {
 				val dataFlags = inputStream.readInt()
@@ -159,8 +157,8 @@ object PoseFrameIO {
 							rotation,
 							position,
 							acceleration,
-							rawRotation
-						)
+							rawRotation,
+						),
 					)
 			}
 			trackers.add(TrackerFrames(name, trackerFrames))
@@ -177,16 +175,14 @@ object PoseFrameIO {
 		}
 	}

-	fun readFromFile(file: File): PoseFrames {
-		return readFrames(
-			DataInputStream(BufferedInputStream(FileInputStream(file)))
-		)
-	}
+	fun readFromFile(file: File): PoseFrames = readFrames(
+		DataInputStream(BufferedInputStream(FileInputStream(file))),
+	)

 	fun tryReadFromFile(file: File): PoseFrames? {
 		return try {
 			return readFrames(
-				DataInputStream(BufferedInputStream(FileInputStream(file)))
+				DataInputStream(BufferedInputStream(FileInputStream(file))),
 			)
 		} catch (e: Exception) {
 			LogManager.severe("Error reading frames from file", e)
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/PoseFrames.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/PoseFrames.kt
@@ -34,8 +34,9 @@ class PoseFrames : Iterable<Array<TrackerFrame?>> {
 	 * index [index].
 	 */
 	fun getTrackerForPosition(position: TrackerPosition, index: Int = 0): TrackerFrames? {
-		for (tracker in frameHolders)
+		for (tracker in frameHolders) {
 			if (tracker.tryGetFrame(index)?.trackerPosition == position) return tracker
+		}
 		return null
 	}

@@ -51,7 +52,7 @@ class PoseFrames : Iterable<Array<TrackerFrame?>> {
 		get() {
 			return getMaxHeight(
 				getTrackerForPosition(TrackerPosition.HEAD)
-					?: return 0f
+					?: return 0f,
 			)
 		}

@@ -74,13 +75,13 @@ class PoseFrames : Iterable<Array<TrackerFrame?>> {
 	}
 	// endregion

+	/**
+	 * @return The maximum number of [TrackerFrame]s contained within each
+	 * [TrackerFrames] in the internal [TrackerFrames] list.
+	 * @see [TrackerFrames.frames]
+	 * @see [List.size]
+	 */
 	val maxFrameCount: Int
-		/**
-		 * @return The maximum number of [TrackerFrame]s contained within each
-		 * [TrackerFrames] in the internal [TrackerFrames] list.
-		 * @see [TrackerFrames.frames]
-		 * @see [List.size]
-		 */
 		get() {
 			return frameHolders.maxOfOrNull { tracker -> tracker.frames.size } ?: 0
 		}
@@ -137,18 +138,14 @@ class PoseFrames : Iterable<Array<TrackerFrame?>> {
 		return trackerFrames
 	}

-	override fun iterator(): Iterator<Array<TrackerFrame?>> {
-		return PoseFrameIterator(this)
-	}
+	override fun iterator(): Iterator<Array<TrackerFrame?>> = PoseFrameIterator(this)

 	inner class PoseFrameIterator(private val poseFrame: PoseFrames) : Iterator<Array<TrackerFrame?>> {
 		private val trackerFrameBuffer: Array<TrackerFrame?> = arrayOfNulls(poseFrame.frameHolders.size)
 		private val maxCursor = poseFrame.maxFrameCount
 		private var cursor = 0

-		override fun hasNext(): Boolean {
-			return frameHolders.isNotEmpty() && cursor < maxCursor
-		}
+		override fun hasNext(): Boolean = frameHolders.isNotEmpty() && cursor < maxCursor

 		override fun next(): Array<TrackerFrame?> {
 			if (!hasNext()) {
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/PoseRecorder.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/PoseRecorder.kt
@@ -113,7 +113,7 @@ class PoseRecorder(private val server: VRServer) {

 		LogManager
 			.info(
-				"[PoseRecorder] Recording $numFrames samples at a $intervalMs ms frame interval"
+				"[PoseRecorder] Recording $numFrames samples at a $intervalMs ms frame interval",
 			)

 		currentFrameCallback = frameCallback
@@ -161,9 +161,7 @@ class PoseRecorder(private val server: VRServer) {
 		get() = numFrames > frameCursor

 	@Synchronized
-	fun hasRecording(): Boolean {
-		return currentRecording != null
-	}
+	fun hasRecording(): Boolean = currentRecording != null

 	@get:Synchronized
 	val framesAsync: Future<PoseFrames>?
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/player/TrackerFramesPlayer.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/player/TrackerFramesPlayer.kt
@@ -10,20 +10,20 @@ class TrackerFramesPlayer(vararg val frameHolders: TrackerFrames) {
 	val playerTrackers: Array<PlayerTracker> = frameHolders.map { trackerFrames ->
 		PlayerTracker(
 			trackerFrames,
-			trackerFrames.toTracker()
+			trackerFrames.toTracker(),
 		)
 	}.toTypedArray()

 	val trackers: Array<Tracker> =
 		playerTrackers.map { playerTracker -> playerTracker.tracker }.toTypedArray()

+	/**
+	 * @return The maximum number of [TrackerFrame]s contained within each
+	 * [TrackerFrames] in the internal [TrackerFrames] array.
+	 * @see [TrackerFrames.frames]
+	 * @see [List.size]
+	 */
 	val maxFrameCount: Int
-		/**
-		 * @return The maximum number of [TrackerFrame]s contained within each
-		 * [TrackerFrames] in the internal [TrackerFrames] array.
-		 * @see [TrackerFrames.frames]
-		 * @see [List.size]
-		 */
 		get() {
 			return frameHolders.maxOfOrNull { tracker -> tracker.frames.size } ?: 0
 		}
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrame.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrame.kt
@@ -40,62 +40,44 @@ data class TrackerFrame(
 		dataFlags = initDataFlags
 	}

-	fun hasData(flag: TrackerFrameData): Boolean {
-		return flag.check(dataFlags)
-	}
+	fun hasData(flag: TrackerFrameData): Boolean = flag.check(dataFlags)

 	// region Tracker Try Getters
-	fun tryGetTrackerPosition(): TrackerPosition? {
-		return if (hasData(TrackerFrameData.TRACKER_POSITION_ENUM) || hasData(TrackerFrameData.DESIGNATION_STRING)) {
-			trackerPosition
-		} else {
-			null
-		}
+	fun tryGetTrackerPosition(): TrackerPosition? = if (hasData(TrackerFrameData.TRACKER_POSITION_ENUM) || hasData(TrackerFrameData.DESIGNATION_STRING)) {
+		trackerPosition
+	} else {
+		null
 	}

-	fun tryGetRotation(): Quaternion? {
-		return if (hasData(TrackerFrameData.ROTATION)) {
-			rotation
-		} else {
-			null
-		}
+	fun tryGetRotation(): Quaternion? = if (hasData(TrackerFrameData.ROTATION)) {
+		rotation
+	} else {
+		null
 	}

-	fun tryGetRawRotation(): Quaternion? {
-		return if (hasData(TrackerFrameData.RAW_ROTATION)) {
-			rawRotation
-		} else {
-			null
-		}
+	fun tryGetRawRotation(): Quaternion? = if (hasData(TrackerFrameData.RAW_ROTATION)) {
+		rawRotation
+	} else {
+		null
 	}

-	fun tryGetPosition(): Vector3? {
-		return if (hasData(TrackerFrameData.POSITION)) {
-			position
-		} else {
-			null
-		}
+	fun tryGetPosition(): Vector3? = if (hasData(TrackerFrameData.POSITION)) {
+		position
+	} else {
+		null
 	}

-	fun tryGetAcceleration(): Vector3? {
-		return if (hasData(TrackerFrameData.ACCELERATION)) {
-			acceleration
-		} else {
-			null
-		}
+	fun tryGetAcceleration(): Vector3? = if (hasData(TrackerFrameData.ACCELERATION)) {
+		acceleration
+	} else {
+		null
 	}

-	fun hasRotation(): Boolean {
-		return hasData(TrackerFrameData.ROTATION)
-	}
+	fun hasRotation(): Boolean = hasData(TrackerFrameData.ROTATION)

-	fun hasPosition(): Boolean {
-		return hasData(TrackerFrameData.POSITION)
-	}
+	fun hasPosition(): Boolean = hasData(TrackerFrameData.POSITION)

-	fun hasAcceleration(): Boolean {
-		return hasData(TrackerFrameData.ACCELERATION)
-	}
+	fun hasAcceleration(): Boolean = hasData(TrackerFrameData.ACCELERATION)
 	// endregion

 	companion object {
@@ -128,7 +110,7 @@ data class TrackerFrame(
 				rotation,
 				position,
 				acceleration,
-				rawRotation
+				rawRotation,
 			)
 		}
 	}
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrameData.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrameData.kt
@@ -1,7 +1,13 @@
 package dev.slimevr.poseframeformat.trackerdata

 enum class TrackerFrameData(id: Int) {
-	DESIGNATION_STRING(0), ROTATION(1), POSITION(2), TRACKER_POSITION_ENUM(3), ACCELERATION(4), RAW_ROTATION(5);
+	DESIGNATION_STRING(0),
+	ROTATION(1),
+	POSITION(2),
+	TRACKER_POSITION_ENUM(3),
+	ACCELERATION(4),
+	RAW_ROTATION(5),
+	;

 	val flag: Int

@@ -13,15 +19,9 @@ enum class TrackerFrameData(id: Int) {
 	 * Inline is fine for these, there's no negative to inlining them as they'll never
 	 * change, so any warning about it can be safely ignored
 	 */
-	inline fun check(dataFlags: Int): Boolean {
-		return dataFlags and flag != 0
-	}
+	inline fun check(dataFlags: Int): Boolean = dataFlags and flag != 0

-	inline fun add(dataFlags: Int): Int {
-		return dataFlags or flag
-	}
+	inline fun add(dataFlags: Int): Int = dataFlags or flag

-	inline fun remove(dataFlags: Int): Int {
-		return dataFlags xor flag
-	}
+	inline fun remove(dataFlags: Int): Int = dataFlags xor flag
 }
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrames.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrames.kt
@@ -24,13 +24,9 @@ data class TrackerFrames(val name: String = "", val frames: FastList<TrackerFram
 		return trackerFrame
 	}

-	fun tryGetFrame(index: Int): TrackerFrame? {
-		return if (index < 0 || index >= frames.size) null else frames[index]
-	}
+	fun tryGetFrame(index: Int): TrackerFrame? = if (index < 0 || index >= frames.size) null else frames[index]

-	fun tryGetFirstNotNullFrame(): TrackerFrame? {
-		return frames.firstOrNull { frame -> frame != null }
-	}
+	fun tryGetFirstNotNullFrame(): TrackerFrame? = frames.firstOrNull { frame -> frame != null }

 	fun toTracker(): Tracker {
 		val firstFrame = tryGetFirstNotNullFrame() ?: TrackerFrame.empty
@@ -44,7 +40,7 @@ data class TrackerFrames(val name: String = "", val frames: FastList<TrackerFram
 			hasAcceleration = firstFrame.hasAcceleration(),
 			// Make sure this is false!! Otherwise HumanSkeleton ignores it
 			isInternal = false,
-			isComputed = true
+			isComputed = true,
 		)

 		tracker.status = TrackerStatus.OK
--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/autobone/RPCAutoBoneHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/autobone/RPCAutoBoneHandler.kt
@@ -26,19 +26,19 @@ class RPCAutoBoneHandler(
 	init {
 		rpcHandler.registerPacketListener(
 			RpcMessage.AutoBoneProcessRequest,
-			::onAutoBoneProcessRequest
+			::onAutoBoneProcessRequest,
 		)
 		rpcHandler.registerPacketListener(
 			RpcMessage.AutoBoneApplyRequest,
-			::onAutoBoneApplyRequest
+			::onAutoBoneApplyRequest,
 		)
 		rpcHandler.registerPacketListener(
 			RpcMessage.AutoBoneStopRecordingRequest,
-			::onAutoBoneStopRecordingRequest
+			::onAutoBoneStopRecordingRequest,
 		)
 		rpcHandler.registerPacketListener(
 			RpcMessage.AutoBoneCancelRecordingRequest,
-			::onAutoBoneCancelRecordingRequest
+			::onAutoBoneCancelRecordingRequest,
 		)

 		this.api.server.autoBoneHandler.addListener(this)
@@ -76,7 +76,7 @@ class RPCAutoBoneHandler(
 			AutoBoneProcessStatusResponse.startAutoBoneProcessStatusResponse(fbb)
 			AutoBoneProcessStatusResponse.addProcessType(
 				fbb,
-				processType.id
+				processType.id,
 			)

 			AutoBoneProcessStatusResponse.addCurrent(fbb, current)
@@ -90,7 +90,7 @@ class RPCAutoBoneHandler(
 			val outbound: Int = rpcHandler.createRPCMessage(
 				fbb,
 				RpcMessage.AutoBoneProcessStatusResponse,
-				update
+				update,
 			)
 			fbb.finish(outbound)
 			conn.send(fbb.dataBuffer())
@@ -117,7 +117,7 @@ class RPCAutoBoneHandler(
 					fbb,
 					epoch.configValues.map { (key, value) ->
 						SkeletonPart.createSkeletonPart(fbb, key.id, value)
-					}.toIntArray()
+					}.toIntArray(),
 				)
 			val update = AutoBoneEpochResponse
 				.createAutoBoneEpochResponse(
@@ -125,12 +125,12 @@ class RPCAutoBoneHandler(
 					epoch.epoch.toLong(),
 					epoch.totalEpochs.toLong(),
 					epoch.epochError.mean,
-					skeletonPartsOffset
+					skeletonPartsOffset,
 				)
 			val outbound: Int = rpcHandler.createRPCMessage(
 				fbb,
 				RpcMessage.AutoBoneEpochResponse,
-				update
+				update,
 			)
 			fbb.finish(outbound)
 			conn.send(fbb.dataBuffer())
@@ -153,7 +153,7 @@ class RPCAutoBoneHandler(
 		val outbound = rpcHandler.createRPCMessage(
 			fbb,
 			RpcMessage.SkeletonConfigResponse,
-			RPCBuilder.createSkeletonConfig(fbb, api.server.humanPoseManager)
+			RPCBuilder.createSkeletonConfig(fbb, api.server.humanPoseManager),
 		)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/setup/RPCTapSetupHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/setup/RPCTapSetupHandler.kt
@@ -13,8 +13,7 @@ import solarxr_protocol.rpc.TapDetectionSetupNotification
 class RPCTapSetupHandler(
 	private val rpcHandler: RPCHandler,
 	val api: ProtocolAPI,
-) :
-	TapSetupListener {
+) : TapSetupListener {
 	init {
 		this.api.server.tapSetupHandler.addListener(this)
 	}
@@ -29,7 +28,7 @@ class RPCTapSetupHandler(

 		forAllListeners {
 			it.send(
-				fbb.dataBuffer()
+				fbb.dataBuffer(),
 			)
 		}
 	}
--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/status/RPCStatusHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/status/RPCStatusHandler.kt
@@ -42,7 +42,7 @@ class RPCStatusHandler(
 		val outbound = this.rpcHandler.createRPCMessage(
 			fbb,
 			RpcMessage.StatusSystemUpdate,
-			update
+			update,
 		)
 		fbb.finish(outbound)

@@ -61,7 +61,7 @@ class RPCStatusHandler(
 		val outbound = this.rpcHandler.createRPCMessage(
 			fbb,
 			RpcMessage.StatusSystemFixed,
-			update
+			update,
 		)
 		fbb.finish(outbound)

--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/trackingpause/RPCTrackingPause.kt
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/trackingpause/RPCTrackingPause.kt
@@ -18,7 +18,7 @@ class RPCTrackingPause(private val rpcHandler: RPCHandler, private val api: Prot
 	init {
 		rpcHandler.registerPacketListener(
 			RpcMessage.TrackingPauseStateRequest,
-			::onTrackingPauseStateRequest
+			::onTrackingPauseStateRequest,
 		)

 		// HumanPoseManager might not be immediately available, so queue the server
--- a/server/core/src/main/java/dev/slimevr/serial/SerialHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/serial/SerialHandler.kt
@@ -38,14 +38,14 @@ abstract class SerialHandler {
 			// FT232RL/Q, FT245RL/Q
 			// VNC1L with VDPS Firmware
 			// VNC2 with FT232Slave
-			Pair(0x0403, 0x6001)
+			Pair(0x0403, 0x6001),
 		)
 		fun isKnownBoard(port: SerialPort): Boolean =
 			supportedSerial.contains(Pair(port.vendorId, port.productId))
 	}
 }

-class SerialHandlerStub() : SerialHandler() {
+class SerialHandlerStub : SerialHandler() {
 	override val isConnected: Boolean = false
 	override val knownPorts: Stream<out SerialPort> = Stream.empty()

@@ -53,9 +53,7 @@ class SerialHandlerStub() : SerialHandler() {

 	override fun removeListener(channel: SerialListener) {}

-	override fun openSerial(portLocation: String?, auto: Boolean): Boolean {
-		return false
-	}
+	override fun openSerial(portLocation: String?, auto: Boolean): Boolean = false

 	override fun rebootRequest() {}

--- a/server/core/src/main/java/dev/slimevr/tracking/processor/Bone.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/Bone.kt
@@ -61,16 +61,12 @@ class Bone(val boneType: BoneType) {
 	/**
 	 * Returns the world-aligned rotation of the bone
 	 */
-	fun getGlobalRotation(): Quaternion {
-		return headNode.worldTransform.rotation
-	}
+	fun getGlobalRotation(): Quaternion = headNode.worldTransform.rotation

 	/**
 	 * Returns the rotation of the bone relative to its parent
 	 */
-	fun getLocalRotation(): Quaternion {
-		return headNode.localTransform.rotation
-	}
+	fun getLocalRotation(): Quaternion = headNode.localTransform.rotation

 	/**
 	 * Sets the global rotation of the bone
@@ -82,16 +78,12 @@ class Bone(val boneType: BoneType) {
 	/**
 	 * Returns the global position of the head of the bone
 	 */
-	fun getPosition(): Vector3 {
-		return headNode.worldTransform.translation
-	}
+	fun getPosition(): Vector3 = headNode.worldTransform.translation

 	/**
 	 * Returns the global position of the tail of the bone
 	 */
-	fun getTailPosition(): Vector3 {
-		return tailNode.worldTransform.translation
-	}
+	fun getTailPosition(): Vector3 = tailNode.worldTransform.translation

 	/**
 	 * Sets the global position of the head of the bone.
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt
@@ -160,7 +160,7 @@ class HumanSkeleton(
 			server.configManager.vrConfig.tapDetection,
 			server.resetHandler,
 			server.tapSetupHandler,
-			server.allTrackers
+			server.allTrackers,
 		)
 		legTweaks.setConfig(server.configManager.vrConfig.legTweaks)
 		localizer.setEnabled(humanPoseManager.getToggle(SkeletonConfigToggles.SELF_LOCALIZATION))
@@ -336,21 +336,19 @@ class HumanSkeleton(
 	/**
 	 * Get output tracker from TrackerRole
 	 */
-	fun getComputedTracker(trackerRole: TrackerRole): Tracker {
-		return when (trackerRole) {
-			TrackerRole.HEAD -> computedHeadTracker!!
-			TrackerRole.CHEST -> computedChestTracker!!
-			TrackerRole.WAIST -> computedHipTracker!!
-			TrackerRole.LEFT_KNEE -> computedLeftKneeTracker!!
-			TrackerRole.LEFT_FOOT -> computedLeftFootTracker!!
-			TrackerRole.RIGHT_KNEE -> computedRightKneeTracker!!
-			TrackerRole.RIGHT_FOOT -> computedRightFootTracker!!
-			TrackerRole.LEFT_ELBOW -> computedLeftElbowTracker!!
-			TrackerRole.RIGHT_ELBOW -> computedRightElbowTracker!!
-			TrackerRole.LEFT_HAND -> computedLeftHandTracker!!
-			TrackerRole.RIGHT_HAND -> computedRightHandTracker!!
-			else -> throw IllegalArgumentException("Unsupported computed tracker's TrackerRole in HumanSkeleton")
-		}
+	fun getComputedTracker(trackerRole: TrackerRole): Tracker = when (trackerRole) {
+		TrackerRole.HEAD -> computedHeadTracker!!
+		TrackerRole.CHEST -> computedChestTracker!!
+		TrackerRole.WAIST -> computedHipTracker!!
+		TrackerRole.LEFT_KNEE -> computedLeftKneeTracker!!
+		TrackerRole.LEFT_FOOT -> computedLeftFootTracker!!
+		TrackerRole.RIGHT_KNEE -> computedRightKneeTracker!!
+		TrackerRole.RIGHT_FOOT -> computedRightFootTracker!!
+		TrackerRole.LEFT_ELBOW -> computedLeftElbowTracker!!
+		TrackerRole.RIGHT_ELBOW -> computedRightElbowTracker!!
+		TrackerRole.LEFT_HAND -> computedLeftHandTracker!!
+		TrackerRole.RIGHT_HAND -> computedRightHandTracker!!
+		else -> throw IllegalArgumentException("Unsupported computed tracker's TrackerRole in HumanSkeleton")
 	}

 	/**
@@ -403,7 +401,7 @@ class HumanSkeleton(
 			leftFootTrackerBone,
 			leftUpperLegTracker,
 			leftLowerLegTracker,
-			leftFootTracker
+			leftFootTracker,
 		)
 		// Right leg
 		updateLegTransforms(
@@ -414,7 +412,7 @@ class HumanSkeleton(
 			rightFootTrackerBone,
 			rightUpperLegTracker,
 			rightLowerLegTracker,
-			rightFootTracker
+			rightFootTracker,
 		)
 		// Left arm
 		updateArmTransforms(
@@ -428,7 +426,7 @@ class HumanSkeleton(
 			leftShoulderTracker,
 			leftUpperArmTracker,
 			leftLowerArmTracker,
-			leftHandTracker
+			leftHandTracker,
 		)
 		// Right arm
 		updateArmTransforms(
@@ -442,7 +440,7 @@ class HumanSkeleton(
 			rightShoulderTracker,
 			rightUpperArmTracker,
 			rightLowerArmTracker,
-			rightHandTracker
+			rightHandTracker,
 		)
 	}

@@ -477,7 +475,7 @@ class HumanSkeleton(
 				upperChestTracker,
 				chestTracker,
 				waistTracker,
-				hipTracker
+				hipTracker,
 			)?.let { headRot = it.getRotation() }

 			headBone.setRotation(headRot)
@@ -840,18 +838,27 @@ class HumanSkeleton(
 	fun updateToggleState(configToggle: SkeletonConfigToggles, newValue: Boolean) {
 		when (configToggle) {
 			SkeletonConfigToggles.EXTENDED_SPINE_MODEL -> extendedSpineModel = newValue
+
 			SkeletonConfigToggles.EXTENDED_PELVIS_MODEL -> extendedPelvisModel = newValue
+
 			SkeletonConfigToggles.EXTENDED_KNEE_MODEL -> extendedKneeModel = newValue
+
 			SkeletonConfigToggles.FORCE_ARMS_FROM_HMD -> {
 				forceArmsFromHMD = newValue
 				assembleSkeletonArms(true) // Rebuilds the arm skeleton nodes attachments
 				computeDependentArmOffsets() // Refresh node offsets for arms
 			}
+
 			SkeletonConfigToggles.SKATING_CORRECTION -> legTweaks.setSkatingCorrectionEnabled(newValue)
+
 			SkeletonConfigToggles.FLOOR_CLIP -> legTweaks.setFloorClipEnabled(newValue)
+
 			SkeletonConfigToggles.VIVE_EMULATION -> viveEmulation.enabled = newValue
+
 			SkeletonConfigToggles.TOE_SNAP -> legTweaks.toeSnapEnabled = newValue
+
 			SkeletonConfigToggles.FOOT_PLANT -> legTweaks.footPlantEnabled = newValue
+
 			SkeletonConfigToggles.SELF_LOCALIZATION -> localizer.setEnabled(newValue)
 		}
 	}
@@ -912,42 +919,40 @@ class HumanSkeleton(
 		humanPoseManager.computeNodeOffset(BoneType.RIGHT_HAND)
 	}

-	fun getBone(bone: BoneType): Bone {
-		return when (bone) {
-			BoneType.HEAD -> headBone
-			BoneType.HEAD_TRACKER -> headTrackerBone
-			BoneType.NECK -> neckBone
-			BoneType.UPPER_CHEST -> upperChestBone
-			BoneType.CHEST_TRACKER -> chestTrackerBone
-			BoneType.CHEST -> chestBone
-			BoneType.WAIST -> waistBone
-			BoneType.HIP -> hipBone
-			BoneType.HIP_TRACKER -> hipTrackerBone
-			BoneType.LEFT_HIP -> leftHipBone
-			BoneType.RIGHT_HIP -> rightHipBone
-			BoneType.LEFT_UPPER_LEG -> leftUpperLegBone
-			BoneType.RIGHT_UPPER_LEG -> rightUpperLegBone
-			BoneType.LEFT_KNEE_TRACKER -> leftKneeTrackerBone
-			BoneType.RIGHT_KNEE_TRACKER -> rightKneeTrackerBone
-			BoneType.LEFT_LOWER_LEG -> leftLowerLegBone
-			BoneType.RIGHT_LOWER_LEG -> rightLowerLegBone
-			BoneType.LEFT_FOOT -> leftFootBone
-			BoneType.RIGHT_FOOT -> rightFootBone
-			BoneType.LEFT_FOOT_TRACKER -> leftFootTrackerBone
-			BoneType.RIGHT_FOOT_TRACKER -> rightFootTrackerBone
-			BoneType.LEFT_SHOULDER -> leftShoulderBone
-			BoneType.RIGHT_SHOULDER -> rightShoulderBone
-			BoneType.LEFT_UPPER_ARM -> leftUpperArmBone
-			BoneType.RIGHT_UPPER_ARM -> rightUpperArmBone
-			BoneType.LEFT_ELBOW_TRACKER -> leftElbowTrackerBone
-			BoneType.RIGHT_ELBOW_TRACKER -> rightElbowTrackerBone
-			BoneType.LEFT_LOWER_ARM -> leftLowerArmBone
-			BoneType.RIGHT_LOWER_ARM -> rightLowerArmBone
-			BoneType.LEFT_HAND -> leftHandBone
-			BoneType.RIGHT_HAND -> rightHandBone
-			BoneType.LEFT_HAND_TRACKER -> leftHandTrackerBone
-			BoneType.RIGHT_HAND_TRACKER -> rightHandTrackerBone
-		}
+	fun getBone(bone: BoneType): Bone = when (bone) {
+		BoneType.HEAD -> headBone
+		BoneType.HEAD_TRACKER -> headTrackerBone
+		BoneType.NECK -> neckBone
+		BoneType.UPPER_CHEST -> upperChestBone
+		BoneType.CHEST_TRACKER -> chestTrackerBone
+		BoneType.CHEST -> chestBone
+		BoneType.WAIST -> waistBone
+		BoneType.HIP -> hipBone
+		BoneType.HIP_TRACKER -> hipTrackerBone
+		BoneType.LEFT_HIP -> leftHipBone
+		BoneType.RIGHT_HIP -> rightHipBone
+		BoneType.LEFT_UPPER_LEG -> leftUpperLegBone
+		BoneType.RIGHT_UPPER_LEG -> rightUpperLegBone
+		BoneType.LEFT_KNEE_TRACKER -> leftKneeTrackerBone
+		BoneType.RIGHT_KNEE_TRACKER -> rightKneeTrackerBone
+		BoneType.LEFT_LOWER_LEG -> leftLowerLegBone
+		BoneType.RIGHT_LOWER_LEG -> rightLowerLegBone
+		BoneType.LEFT_FOOT -> leftFootBone
+		BoneType.RIGHT_FOOT -> rightFootBone
+		BoneType.LEFT_FOOT_TRACKER -> leftFootTrackerBone
+		BoneType.RIGHT_FOOT_TRACKER -> rightFootTrackerBone
+		BoneType.LEFT_SHOULDER -> leftShoulderBone
+		BoneType.RIGHT_SHOULDER -> rightShoulderBone
+		BoneType.LEFT_UPPER_ARM -> leftUpperArmBone
+		BoneType.RIGHT_UPPER_ARM -> rightUpperArmBone
+		BoneType.LEFT_ELBOW_TRACKER -> leftElbowTrackerBone
+		BoneType.RIGHT_ELBOW_TRACKER -> rightElbowTrackerBone
+		BoneType.LEFT_LOWER_ARM -> leftLowerArmBone
+		BoneType.RIGHT_LOWER_ARM -> rightLowerArmBone
+		BoneType.LEFT_HAND -> leftHandBone
+		BoneType.RIGHT_HAND -> rightHandBone
+		BoneType.LEFT_HAND_TRACKER -> leftHandTrackerBone
+		BoneType.RIGHT_HAND_TRACKER -> rightHandTrackerBone
 	}

 	/**
@@ -976,7 +981,7 @@ class HumanSkeleton(
 			leftLowerArmBone,
 			rightLowerArmBone,
 			leftHandBone,
-			rightHandBone
+			rightHandBone,
 		)

 	/**
@@ -995,28 +1000,30 @@ class HumanSkeleton(
 			leftHandBone,
 			rightHandBone,
 			leftHandTrackerBone,
-			rightHandTrackerBone
+			rightHandTrackerBone,
 		)

 	val hmdHeight: Float
 		get() = headTracker?.position?.y ?: 0f
+
+	/**
+	 * Runs checks to know if we should (and are) performing the tracking of the
+	 * left arm from the controller.
+	 *
+	 * @return a bool telling us if we are tracking the left arm from the
+	 * controller or not.
+	 */
 	val isTrackingLeftArmFromController: Boolean
-		/**
-		 * Runs checks to know if we should (and are) performing the tracking of the
-		 * left arm from the controller.
-		 *
-		 * @return a bool telling us if we are tracking the left arm from the
-		 * controller or not.
-		 */
 		get() = leftHandTracker != null && leftHandTracker!!.hasPosition && !forceArmsFromHMD
+
+	/**
+	 * Runs checks to know if we should (and are) performing the tracking of the
+	 * right arm from the controller.
+	 *
+	 * @return a bool telling us if we are tracking the right arm from the
+	 * controller or not.
+	 */
 	val isTrackingRightArmFromController: Boolean
-		/**
-		 * Runs checks to know if we should (and are) performing the tracking of the
-		 * right arm from the controller.
-		 *
-		 * @return a bool telling us if we are tracking the right arm from the
-		 * controller or not.
-		 */
 		get() = rightHandTracker != null && rightHandTracker!!.hasPosition && !forceArmsFromHMD
 	val localTrackers: List<Tracker?>
 		get() = listOf(
@@ -1037,7 +1044,7 @@ class HumanSkeleton(
 			leftHandTracker,
 			rightHandTracker,
 			leftShoulderTracker,
-			rightShoulderTracker
+			rightShoulderTracker,
 		)

 	fun resetTrackersFull(resetSourceName: String?) {
@@ -1167,7 +1174,7 @@ class HumanSkeleton(
 		if (skatingCorrection) {
 			legTweaks
 				.setSkatingCorrectionEnabled(
-					humanPoseManager.getToggle(SkeletonConfigToggles.SKATING_CORRECTION)
+					humanPoseManager.getToggle(SkeletonConfigToggles.SKATING_CORRECTION),
 				)
 		}
 		if (floorClip) {
@@ -1206,9 +1213,7 @@ class HumanSkeleton(
 		humanPoseManager.setToggle(SkeletonConfigToggles.SKATING_CORRECTION, value)
 	}

-	fun getPauseTracking(): Boolean {
-		return pauseTracking
-	}
+	fun getPauseTracking(): Boolean = pauseTracking

 	fun setPauseTracking(pauseTracking: Boolean, sourceName: String?) {
 		if (!pauseTracking && this.pauseTracking) {
@@ -1232,7 +1237,7 @@ class HumanSkeleton(
 			EulerOrder.YZX,
 			FastMath.HALF_PI,
 			0f,
-			0f
+			0f,
 		).toQuaternion()
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaks.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaks.kt
@@ -184,7 +184,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 	fun tweakLegs() {
 		// If user doesn't have knees or legtweaks is disabled,
 		// don't spend time doing calculations!
-		if (!skeleton.hasKneeTrackers && !alwaysUseFloorclip || !enabled) return
+		if ((!skeleton.hasKneeTrackers && !alwaysUseFloorclip) || !enabled) return

 		// update the class with the latest data from the skeleton
 		// if false is returned something indicated that the legs should not
@@ -205,11 +205,11 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		// (use the buffer to get the positions before corrections)
 		val leftFootDif = FastMath
 			.abs(
-				(bufferHead.leftFootPosition - leftFootPosition).y
+				(bufferHead.leftFootPosition - leftFootPosition).y,
 			)
 		val rightFootDif = FastMath
 			.abs(
-				(bufferHead.rightFootPosition - rightFootPosition).y
+				(bufferHead.rightFootPosition - rightFootPosition).y,
 			)

 		if (!active && leftFootDif < NEARLY_ZERO) {
@@ -228,24 +228,24 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			leftFootPosition = Vector3(
 				leftFootPosition.x,
 				bufferHead.leftFootPosition.y,
-				leftFootPosition.z
+				leftFootPosition.z,
 			)
 			leftKneePosition = Vector3(
 				leftKneePosition.x,
 				bufferHead.leftKneePosition.y,
-				leftKneePosition.z
+				leftKneePosition.z,
 			)
 		}
 		if (!rightLegActive) {
 			rightFootPosition = Vector3(
 				rightFootPosition.x,
 				bufferHead.rightFootPosition.y,
-				rightFootPosition.z
+				rightFootPosition.z,
 			)
 			rightKneePosition = Vector3(
 				rightKneePosition.x,
 				bufferHead.rightKneePosition.y,
-				rightKneePosition.z
+				rightKneePosition.z,
 			)
 		}

@@ -259,7 +259,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 				rightFootPosition,
 				leftKneePosition,
 				rightKneePosition,
-				hipPosition
+				hipPosition,
 			)

 		// Set the corrected positions in the skeleton
@@ -275,21 +275,19 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		LegTweaksBuffer.setSkatingVelocityThreshold(
 			getScaledHyperParameter(
 				newStrength,
-				LegTweaksBuffer.getSkatingVelocityThreshold()
-			)
+				LegTweaksBuffer.getSkatingVelocityThreshold(),
+			),
 		)
 		LegTweaksBuffer.setSkatingAccelerationThreshold(
 			getScaledHyperParameter(
 				newStrength,
-				LegTweaksBuffer.getSkatingAccelerationThreshold()
-			)
+				LegTweaksBuffer.getSkatingAccelerationThreshold(),
+			),
 		)
 		currentCorrectionStrength = newStrength
 	}

-	private fun getScaledHyperParameter(newStrength: Float, currentValue: Float): Float {
-		return currentValue - currentCorrectionStrength * MAX_CORRECTION_STRENGTH_DELTA + newStrength * MAX_CORRECTION_STRENGTH_DELTA
-	}
+	private fun getScaledHyperParameter(newStrength: Float, currentValue: Float): Float = currentValue - currentCorrectionStrength * MAX_CORRECTION_STRENGTH_DELTA + newStrength * MAX_CORRECTION_STRENGTH_DELTA

 	private fun setFloorLevel(floorLevel: Float) {
 		this.floorLevel = floorLevel
@@ -350,7 +348,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 					rightFootPosition,
 					leftKneePosition,
 					rightKneePosition,
-					hipPosition
+					hipPosition,
 				)

 			// if active correct clipping before populating corrected positions
@@ -364,7 +362,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 					rightFootPosition,
 					leftKneePosition,
 					rightKneePosition,
-					hipPosition
+					hipPosition,
 				)
 			bufferHead.leftLegState = LegTweaksBuffer.UNLOCKED
 			bufferHead.rightLegState = LegTweaksBuffer.UNLOCKED
@@ -404,7 +402,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			hipPosition,
 			centerOfMass,
 			bufferHead,
-			active
+			active,
 		)

 		// update the lock duration counters
@@ -412,12 +410,10 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 	}

 	// returns true if the foot is clipped and false if it is not
-	private fun isClipped(leftOffset: Float, rightOffset: Float): Boolean {
-		return (
-			leftFootPosition.y < floorLevel + leftOffset * footLength ||
-				rightFootPosition.y < floorLevel + rightOffset * footLength
-			)
-	}
+	private fun isClipped(leftOffset: Float, rightOffset: Float): Boolean = (
+		leftFootPosition.y < floorLevel + leftOffset * footLength ||
+			rightFootPosition.y < floorLevel + rightOffset * footLength
+		)

 	// corrects the foot position to be above the floor level that is calculated
 	// on calibration
@@ -440,17 +436,17 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 				(
 					floorLevel + footLength * leftOffset - leftFootPosition.y -
 						currentDisengagementOffset
-					)
+					),
 			)
 			leftFootPosition = Vector3(
 				leftFootPosition.x,
 				leftFootPosition.y + displacement,
-				leftFootPosition.z
+				leftFootPosition.z,
 			)
 			leftKneePosition = Vector3(
 				leftKneePosition.x,
 				leftKneePosition.y + displacement,
-				leftKneePosition.z
+				leftKneePosition.z,
 			)
 			avgOffset += displacement
 		}
@@ -463,17 +459,17 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 				(
 					floorLevel + footLength * rightOffset - rightFootPosition.y -
 						currentDisengagementOffset
-					)
+					),
 			)
 			rightFootPosition = Vector3(
 				rightFootPosition.x,
 				rightFootPosition.y + displacement,
-				rightFootPosition.z
+				rightFootPosition.z,
 			)
 			rightKneePosition = Vector3(
 				rightKneePosition.x,
 				rightKneePosition.y + displacement,
-				rightKneePosition.z
+				rightKneePosition.z,
 			)
 			avgOffset += displacement
 		}
@@ -481,7 +477,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		hipPosition = Vector3(
 			hipPosition.x,
 			hipPosition.y + avgOffset / 2 * WAIST_PUSH_WEIGHT,
-			hipPosition.z
+			hipPosition.z,
 		)
 	}

@@ -500,7 +496,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 				leftFootPosition.y,
 				bufPrev
 					.leftFootPositionCorrected
-					.z
+					.z,
 			)
 		}
 		if (bufferHead.rightLegState == LegTweaksBuffer.LOCKED) {
@@ -511,7 +507,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 				rightFootPosition.y,
 				bufPrev
 					.rightFootPositionCorrected
-					.z
+					.z,
 			)
 		}

@@ -549,7 +545,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			// applied
 			val weight: Float = calculateCorrectionWeight(
 				newFootPosition,
-				previousFootPositionCorrected
+				previousFootPositionCorrected,
 			)
 			val constantCorrection = getConstantCorrectionQuantity(framesUnlocked)
 			var newX = newFootPosition.x
@@ -598,7 +594,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			if (checkOverShoot(
 					footPosition.x,
 					previousFootPositionCorrected.x,
-					newX
+					newX,
 				)
 			) {
 				newX = footPosition.x
@@ -606,7 +602,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			if (checkOverShoot(
 					footPosition.z,
 					previousFootPositionCorrected.z,
-					newZ
+					newZ,
 				)
 			) {
 				newZ = footPosition.z
@@ -618,15 +614,13 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 	}

 	// get the amount of the constant correction to apply.
-	private fun getConstantCorrectionQuantity(framesUnlocked: Int): Float {
-		return if (framesUnlocked >= CONTINUOUS_CORRECTION_WARMUP) {
+	private fun getConstantCorrectionQuantity(framesUnlocked: Int): Float = if (framesUnlocked >= CONTINUOUS_CORRECTION_WARMUP) {
+		CONTINUOUS_CORRECTION_DIST
+	} else {
+		(
 			CONTINUOUS_CORRECTION_DIST
-		} else {
-			(
-				CONTINUOUS_CORRECTION_DIST
-					* (leftFramesUnlocked.toFloat() / CONTINUOUS_CORRECTION_WARMUP)
-				)
-		}
+				* (leftFramesUnlocked.toFloat() / CONTINUOUS_CORRECTION_WARMUP)
+			)
 	}

 	// correct the rotations of the feet
@@ -660,12 +654,12 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			// if foot trackers exist add to the weights
 			if (leftFootTracker) {
 				weightL *= getRotationalDistanceToPlant(
-					leftFootRotation
+					leftFootRotation,
 				)
 			}
 			if (rightFootTracker) {
 				weightR *= getRotationalDistanceToPlant(
-					rightFootRotation
+					rightFootRotation,
 				)
 			}

@@ -673,12 +667,12 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			leftFootRotation = leftFootRotation
 				.interpR(
 					isolateYaw(leftFootRotation),
-					weightL * masterWeightL
+					weightL * masterWeightL,
 				)
 			rightFootRotation = rightFootRotation
 				.interpR(
 					isolateYaw(rightFootRotation),
-					weightR * masterWeightR
+					weightR * masterWeightR,
 				)
 		}

@@ -711,14 +705,14 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 				leftFootRotation = leftFootRotation
 					.interpR(
 						replacePitch(leftFootRotation, -angleL),
-						weightL * masterWeightL
+						weightL * masterWeightL,
 					)
 			}
 			if (!rightFootTracker) {
 				rightFootRotation = rightFootRotation
 					.interpR(
 						replacePitch(rightFootRotation, -angleR),
-						weightR * masterWeightR
+						weightR * masterWeightR,
 					)
 			}

@@ -796,11 +790,11 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		val angle = FastMath.clamp(footPos.y - floorLevel, 0.0f, footLength)
 		return if (angle > footLength * MAXIMUM_TOE_DOWN_ANGLE) {
 			FastMath.asin(
-				footLength * MAXIMUM_TOE_DOWN_ANGLE / footLength
+				footLength * MAXIMUM_TOE_DOWN_ANGLE / footLength,
 			)
 		} else {
 			FastMath.asin(
-				angle / footLength
+				angle / footLength,
 			)
 		}
 	}
@@ -820,7 +814,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		angle = FastMath.clamp(
 			angle,
 			MIN_DISTANCE_FOR_PLANT,
-			MAX_DISTANCE_FOR_PLANT
+			MAX_DISTANCE_FOR_PLANT,
 		)
 		return (
 			1 -
@@ -955,16 +949,16 @@ class LegTweaks(private val skeleton: HumanSkeleton) {

 		if (armsAvailable) {
 			val leftUpperArm: Vector3 = getCenterOfJoint(
-				skeleton.leftUpperArmBone
+				skeleton.leftUpperArmBone,
 			)
 			val rightUpperArm: Vector3 = getCenterOfJoint(
-				skeleton.rightUpperArmBone
+				skeleton.rightUpperArmBone,
 			)
 			val leftForearm: Vector3 = getCenterOfJoint(
-				skeleton.leftLowerArmBone
+				skeleton.leftLowerArmBone,
 			)
 			val rightForearm: Vector3 = getCenterOfJoint(
-				skeleton.rightLowerArmBone
+				skeleton.rightLowerArmBone,
 			)
 			centerOfMass += leftUpperArm * UPPER_ARM_MASS
 			centerOfMass += rightUpperArm * UPPER_ARM_MASS
@@ -974,7 +968,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			// if the arms are not available put them slightly in front
 			// of the upper chest.
 			val chestUnitVector: Vector3 = computeUnitVector(
-				skeleton.upperChestBone.getGlobalRotation()
+				skeleton.upperChestBone.getGlobalRotation(),
 			)
 			val armLocation =
 				abdomen + (chestUnitVector * DEFAULT_ARM_DISTANCE)
@@ -989,13 +983,11 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 	}

 	// get the center of two joints
-	private fun getCenterOfJoint(bone: Bone): Vector3 {
-		return (
-			bone.getPosition() +
-				bone.getTailPosition()
-			) *
-			0.5f
-	}
+	private fun getCenterOfJoint(bone: Bone): Vector3 = (
+		bone.getPosition() +
+			bone.getTailPosition()
+		) *
+		0.5f

 	// update counters for the lock state of the feet
 	private fun updateLockStateCounters() {
@@ -1016,14 +1008,12 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 	}

 	// remove the x and z components of the given quaternion
-	private fun isolateYaw(quaternion: Quaternion): Quaternion {
-		return Quaternion(
-			quaternion.w,
-			0f,
-			quaternion.y,
-			0f
-		)
-	}
+	private fun isolateYaw(quaternion: Quaternion): Quaternion = Quaternion(
+		quaternion.w,
+		0f,
+		quaternion.y,
+		0f,
+	)

 	// return a quaternion that has been rotated by the new pitch amount
 	private fun replacePitch(quaternion: Quaternion, newPitch: Float): Quaternion {
@@ -1032,7 +1022,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			EulerOrder.YZX,
 			newPitch,
 			y,
-			z
+			z,
 		)
 		return newAngs.toQuaternion()
 	}
@@ -1043,12 +1033,8 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		trueVal: Float,
 		valBefore: Float,
 		valAfter: Float,
-	): Boolean {
-		return (trueVal - valBefore) * (trueVal - valAfter) < 0
-	}
+	): Boolean = (trueVal - valBefore) * (trueVal - valAfter) < 0

 	// get the unit vector of the given rotation
-	private fun computeUnitVector(quaternion: Quaternion): Vector3 {
-		return quaternion.toMatrix().z.unit()
-	}
+	private fun computeUnitVector(quaternion: Quaternion): Vector3 = quaternion.toMatrix().z.unit()
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaksBuffer.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaksBuffer.kt
@@ -19,7 +19,7 @@ import io.github.axisangles.ktmath.Vector3
 * large range of actions and body types.
 */

-class LegTweaksBuffer() {
+class LegTweaksBuffer @Suppress("ktlint") constructor() {
 	// hyperparameters / constants
 	companion object {
 		const val STATE_UNKNOWN = 0
@@ -92,9 +92,7 @@ class LegTweaksBuffer() {
 				)
 		}

-		fun getSkatingVelocityThreshold(): Float {
-			return SKATING_VELOCITY_THRESHOLD
-		}
+		fun getSkatingVelocityThreshold(): Float = SKATING_VELOCITY_THRESHOLD

 		fun setSkatingAccelerationThreshold(value: Float) {
 			SKATING_ACCELERATION_THRESHOLD = value
@@ -104,9 +102,7 @@ class LegTweaksBuffer() {
 				)
 		}

-		fun getSkatingAccelerationThreshold(): Float {
-			return SKATING_ACCELERATION_THRESHOLD
-		}
+		fun getSkatingAccelerationThreshold(): Float = SKATING_ACCELERATION_THRESHOLD
 	}

 	// states for the legs
@@ -267,9 +263,7 @@ class LegTweaksBuffer() {
 	}

 	// returns 1 / delta time
-	fun getTimeDelta(): Float {
-		return if (parent == null) 0.0f else 1.0f / ((timeOfFrame - parent!!.timeOfFrame) / NS_CONVERT)
-	}
+	fun getTimeDelta(): Float = if (parent == null) 0.0f else 1.0f / ((timeOfFrame - parent!!.timeOfFrame) / NS_CONVERT)

 	// calculate movement attributes
 	private fun calculateFootAttributes(active: Boolean) {
@@ -322,7 +316,7 @@ class LegTweaksBuffer() {
 			leftFootAngleDiff,
 			leftFloorLevel,
 			accelerationAboveThresholdLeft,
-			leftFootPosition
+			leftFootPosition,
 		)
 		rightLegState = checkState(
 			parent!!.rightLegState,
@@ -332,7 +326,7 @@ class LegTweaksBuffer() {
 			rightFootAngleDiff,
 			rightFloorLevel,
 			accelerationAboveThresholdRight,
-			rightFootPosition
+			rightFootPosition,
 		)

 		computeNumericalState()
@@ -381,13 +375,13 @@ class LegTweaksBuffer() {
 			leftFootVelocityMagnitude,
 			leftFootAccelerationMagnitude,
 			leftFootSensitivityAccel,
-			leftFootSensitivityVel
+			leftFootSensitivityVel,
 		)
 		rightLegNumericalState = computeNumericalState(
 			rightFootVelocityMagnitude,
 			rightFootAccelerationMagnitude,
 			rightFootSensitivityAccel,
-			rightFootSensitivityVel
+			rightFootSensitivityVel,
 		)
 	}

@@ -417,14 +411,12 @@ class LegTweaksBuffer() {
 		return Vector3(
 			diff.x,
 			0f,
-			diff.z
+			diff.z,
 		).len()
 	}

 	// get the angular velocity of the left foot (kinda we just want a scalar)
-	private fun getFootAngularVelocity(oldRot: Quaternion, rot: Quaternion): Float {
-		return (rot.toMatrix().z.unit() - oldRot.toMatrix().z.unit()).len()
-	}
+	private fun getFootAngularVelocity(oldRot: Quaternion, rot: Quaternion): Float = (rot.toMatrix().z.unit() - oldRot.toMatrix().z.unit()).len()

 	// compute the velocity of the feet from the position in the last frames
 	private fun computeVelocity() {
@@ -438,9 +430,7 @@ class LegTweaksBuffer() {
 	}

 	// get the nth parent of this frame
-	private fun getNParent(n: Int): LegTweaksBuffer? {
-		return if (n == 0 || parent == null) this else parent!!.getNParent(n - 1)
-	}
+	private fun getNParent(n: Int): LegTweaksBuffer? = if (n == 0 || parent == null) this else parent!!.getNParent(n - 1)

 	// compute the acceleration magnitude of the feet from the acceleration
 	// given by the imus
@@ -459,11 +449,11 @@ class LegTweaksBuffer() {
 	private fun computeAccelerationAboveThresholdFootTrackers() {
 		accelerationAboveThresholdLeft = (
 			leftFootAccelerationMagnitude
-			> SKATING_ACCELERATION_CUTOFF_ENGAGE * leftFootSensitivityAccel
+				> SKATING_ACCELERATION_CUTOFF_ENGAGE * leftFootSensitivityAccel
 			)
 		accelerationAboveThresholdRight = (
 			rightFootAccelerationMagnitude
-			> SKATING_ACCELERATION_CUTOFF_ENGAGE * rightFootSensitivityAccel
+				> SKATING_ACCELERATION_CUTOFF_ENGAGE * rightFootSensitivityAccel
 			)
 	}

@@ -472,11 +462,11 @@ class LegTweaksBuffer() {
 	private fun computeAccelerationAboveThresholdAnkleTrackers() {
 		accelerationAboveThresholdLeft = (
 			leftFootAccelerationMagnitude
-			> (SKATING_ACCELERATION_THRESHOLD + SIX_TRACKER_TOLERANCE) * leftFootSensitivityAccel
+				> (SKATING_ACCELERATION_THRESHOLD + SIX_TRACKER_TOLERANCE) * leftFootSensitivityAccel
 			)
 		accelerationAboveThresholdRight = (
 			rightFootAccelerationMagnitude
-			> (SKATING_ACCELERATION_THRESHOLD + SIX_TRACKER_TOLERANCE) * rightFootSensitivityAccel
+				> (SKATING_ACCELERATION_THRESHOLD + SIX_TRACKER_TOLERANCE) * rightFootSensitivityAccel
 			)
 	}

@@ -494,13 +484,13 @@ class LegTweaksBuffer() {
 			leftFootVelocity,
 			rightFootVelocity,
 			leftFootVelocityMagnitude,
-			rightFootVelocityMagnitude
+			rightFootVelocityMagnitude,
 		)
 		val rightFootScalarVel: Float = getFootLockLikelihood(
 			rightFootVelocity,
 			leftFootVelocity,
 			rightFootVelocityMagnitude,
-			leftFootVelocityMagnitude
+			leftFootVelocityMagnitude,
 		)

 		// get the third set of scalars that is based on where the COM is
@@ -515,7 +505,7 @@ class LegTweaksBuffer() {
 				FastMath.clamp(
 					pressureScalars[0] * 2.0f,
 					PRESSURE_SCALAR_MIN,
-					PRESSURE_SCALAR_MAX
+					PRESSURE_SCALAR_MAX,
 				)
 			)
 		rightFootSensitivityVel = (
@@ -526,7 +516,7 @@ class LegTweaksBuffer() {
 				FastMath.clamp(
 					pressureScalars[1] * 2.0f,
 					PRESSURE_SCALAR_MIN,
-					PRESSURE_SCALAR_MAX
+					PRESSURE_SCALAR_MAX,
 				)
 			)

@@ -728,7 +718,5 @@ class LegTweaksBuffer() {
 	}

 	// simple error function for the force vector gradient descent
-	private fun getForceVectorError(testForce: Vector3, otherForce: Vector3): Vector3 {
-		return centerOfMassAcceleration - (testForce + otherForce + GRAVITY)
-	}
+	private fun getForceVectorError(testForce: Vector3, otherForce: Vector3): Vector3 = centerOfMassAcceleration - (testForce + otherForce + GRAVITY)
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/Localizer.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/Localizer.kt
@@ -66,9 +66,7 @@ class Localizer(humanSkeleton: HumanSkeleton) {
 	private var comTravel: Vector3 = Vector3.NULL
 	private var sittingTravel: Vector3 = Vector3.NULL

-	fun getEnabled(): Boolean {
-		return enabled
-	}
+	fun getEnabled(): Boolean = enabled

 	fun setEnabled(enabled: Boolean) {
 		this.enabled = enabled
@@ -133,7 +131,7 @@ class Localizer(humanSkeleton: HumanSkeleton) {
 			finalTravel = Vector3(
 				finalTravel.x,
 				comTravel.y,
-				finalTravel.z
+				finalTravel.z,
 			)
 		}

@@ -214,9 +212,7 @@ class Localizer(humanSkeleton: HumanSkeleton) {
 	}

 	// get the travel of a foot over a frame
-	private fun getFootTravel(loc: Vector3): Vector3 {
-		return loc - targetFoot
-	}
+	private fun getFootTravel(loc: Vector3): Vector3 = loc - targetFoot

 	// update the target position of the foot
 	private fun updateTargetPos(loc: Vector3, foot: MovementStates) {
@@ -319,7 +315,7 @@ class Localizer(humanSkeleton: HumanSkeleton) {
 			comAccel = Vector3(
 				comAccel.x,
 				FastMath.clamp(comAccel.y, -9999.0f, 0.0f),
-				comAccel.z
+				comAccel.z,
 			)
 		}

@@ -331,19 +327,17 @@ class Localizer(humanSkeleton: HumanSkeleton) {
 		comVelocity = Vector3(
 			comVelocity.x,
 			comY + (gravity / bufCur.getTimeDelta()),
-			comVelocity.z
+			comVelocity.z,
 		)

 		return comVelocity
 	}

 	// returns true if either foot is below 0.0
-	private fun isFootOnGround(): Boolean {
-		return (
-			bufCur.leftFootPosition.y <= floor ||
-				bufCur.rightFootPosition.y <= floor
-			)
-	}
+	private fun isFootOnGround(): Boolean = (
+		bufCur.leftFootPosition.y <= floor ||
+			bufCur.rightFootPosition.y <= floor
+		)

 	// returns the tracker closest to or the furthest in the ground
 	private fun getLowestTracker(): Tracker? {
@@ -358,7 +352,7 @@ class Localizer(humanSkeleton: HumanSkeleton) {
 			skeleton.computedLeftKneeTracker,
 			skeleton.computedRightKneeTracker,
 			skeleton.computedLeftFootTracker,
-			skeleton.computedRightFootTracker
+			skeleton.computedRightFootTracker,
 		)

 		var minVal = trackerList[0]?.position?.y
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
@@ -84,8 +84,7 @@ class Tracker @JvmOverloads constructor(
 	 */
 	var statusResetRecently = false
 	private var alreadyInitialized = false
-	var status: TrackerStatus by Delegates.observable(TrackerStatus.DISCONNECTED) {
-			_, old, new ->
+	var status: TrackerStatus by Delegates.observable(TrackerStatus.DISCONNECTED) { _, old, new ->
 		if (old == new) return@observable

 		if (!new.reset) {
@@ -106,8 +105,7 @@ class Tracker @JvmOverloads constructor(
 		}
 	}

-	var trackerPosition: TrackerPosition? by Delegates.observable(trackerPosition) {
-			_, old, new ->
+	var trackerPosition: TrackerPosition? by Delegates.observable(trackerPosition) { _, old, new ->
 		if (old == new) return@observable

 		if (!isInternal) {
@@ -307,12 +305,10 @@ class Tracker @JvmOverloads constructor(
 	/**
 	 * Gets the world-adjusted acceleration
 	 */
-	fun getAcceleration(): Vector3 {
-		return if (needsReset) {
-			resetsHandler.getReferenceAdjustedAccel(rotation, acceleration)
-		} else {
-			acceleration
-		}
+	fun getAcceleration(): Vector3 = if (needsReset) {
+		resetsHandler.getReferenceAdjustedAccel(rotation, acceleration)
+	} else {
+		acceleration
 	}

 	/**
@@ -341,9 +337,7 @@ class Tracker @JvmOverloads constructor(
 	 * Gets the raw (unadjusted) rotation of the tracker.
 	 * If this is an IMU, this will be the raw sensor rotation.
 	 */
-	fun getRawRotation(): Quaternion {
-		return rotation
-	}
+	fun getRawRotation(): Quaternion = rotation

 	/**
 	 * Sets the raw (unadjusted) rotation of the tracker.
@@ -359,9 +353,7 @@ class Tracker @JvmOverloads constructor(
 		this.acceleration = vec
 	}

-	fun isImu(): Boolean {
-		return imuType != null
-	}
+	fun isImu(): Boolean = imuType != null

 	/**
 	 * Gets the current TPS of the tracker
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFilteringHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFilteringHandler.kt
@@ -24,7 +24,7 @@ class TrackerFilteringHandler {
 			movingAverage = QuaternionMovingAverage(
 				type,
 				config.amount,
-				currentRawRotation
+				currentRawRotation,
 			)
 			enabled = true
 		} else {
@@ -50,7 +50,5 @@ class TrackerFilteringHandler {
 	/**
 	 * Get the filtered rotation from the moving average
 	 */
-	fun getFilteredRotation(): Quaternion {
-		return movingAverage?.filteredQuaternion ?: Quaternion.IDENTITY
-	}
+	fun getFilteredRotation(): Quaternion = movingAverage?.filteredQuaternion ?: Quaternion.IDENTITY
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt
@@ -40,7 +40,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		EulerOrder.YZX,
 		0f,
 		Math.PI.toFloat(),
-		0f
+		0f,
 	).toQuaternion()
 		set(value) {
 			field = value
@@ -93,11 +93,12 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * a computed head tracker exists.
 	 */
 	fun refreshDriftCompensationEnabled() {
-		driftCompensationEnabled = compensateDrift && allowDriftCompensation &&
+		driftCompensationEnabled = compensateDrift &&
+			allowDriftCompensation &&
 			TrackerUtils.getNonInternalNonImuTrackerForBodyPosition(
-			VRServer.instance.allTrackers,
-			TrackerPosition.HEAD
-		) != null
+				VRServer.instance.allTrackers,
+				TrackerPosition.HEAD,
+			) != null
 	}

 	/**
@@ -112,24 +113,18 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * Takes a rotation and adjusts it to resets, mounting,
 	 * and drift compensation, with the HMD as the reference.
 	 */
-	fun getReferenceAdjustedDriftRotationFrom(rotation: Quaternion): Quaternion {
-		return adjustToDrift(adjustToReference(rotation))
-	}
+	fun getReferenceAdjustedDriftRotationFrom(rotation: Quaternion): Quaternion = adjustToDrift(adjustToReference(rotation))

 	/**
 	 * Takes a rotation and adjusts it to resets and mounting,
 	 * with the identity Quaternion as the reference.
 	 */
-	fun getIdentityAdjustedDriftRotationFrom(rotation: Quaternion): Quaternion {
-		return adjustToDrift(adjustToIdentity(rotation))
-	}
+	fun getIdentityAdjustedDriftRotationFrom(rotation: Quaternion): Quaternion = adjustToDrift(adjustToIdentity(rotation))

 	/**
 	 * Get the adjusted accel from yawFixZeroReference
 	 */
-	fun getReferenceAdjustedAccel(rawRot: Quaternion, accel: Vector3): Vector3 {
-		return (adjustToReference(rawRot) / yawFix).sandwich(accel)
-	}
+	fun getReferenceAdjustedAccel(rawRot: Quaternion, accel: Vector3): Vector3 = (adjustToReference(rawRot) / yawFix).sandwich(accel)

 	/**
 	 * Converts raw or filtered rotation into reference- and
@@ -166,7 +161,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			return rotation
 				.interpR(
 					averagedDriftQuat * rotation,
-					driftAmount * ((System.currentTimeMillis() - driftSince).toFloat() / totalDriftTime)
+					driftAmount * ((System.currentTimeMillis() - driftSince).toFloat() / totalDriftTime),
 				)
 		}
 		return rotation
@@ -183,7 +178,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 				EulerOrder.YZX,
 				0f,
 				0f,
-				-FastMath.HALF_PI
+				-FastMath.HALF_PI,
 			).toQuaternion()
 		} else if ((isRightArmTracker() && armsResetMode == ArmsResetModes.TPOSE_DOWN)) {
 			tposeFix = EulerAngles(EulerOrder.YZX, 0f, 0f, FastMath.HALF_PI).toQuaternion()
@@ -308,13 +303,9 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		mountRotFix = Quaternion.IDENTITY
 	}

-	private fun fixGyroscope(sensorRotation: Quaternion): Quaternion {
-		return getYawQuaternion(sensorRotation).inv()
-	}
+	private fun fixGyroscope(sensorRotation: Quaternion): Quaternion = getYawQuaternion(sensorRotation).inv()

-	private fun fixAttachment(sensorRotation: Quaternion): Quaternion {
-		return (gyroFix * sensorRotation).inv()
-	}
+	private fun fixAttachment(sensorRotation: Quaternion): Quaternion = (gyroFix * sensorRotation).inv()

 	private fun fixYaw(sensorRotation: Quaternion, reference: Quaternion): Quaternion {
 		var rot = gyroFix * sensorRotation
@@ -329,9 +320,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	// incorrect. Projection around the Y-axis is worse.
 	// In both cases, the isolated yaw value changes
 	// with the tracker's roll when pointing forward.
-	private fun getYawQuaternion(rot: Quaternion): Quaternion {
-		return EulerAngles(EulerOrder.YZX, 0f, rot.toEulerAngles(EulerOrder.YZX).y, 0f).toQuaternion()
-	}
+	private fun getYawQuaternion(rot: Quaternion): Quaternion = EulerAngles(EulerOrder.YZX, 0f, rot.toEulerAngles(EulerOrder.YZX).y, 0f).toQuaternion()

 	private fun makeIdentityAdjustmentQuatsFull() {
 		val sensorRotation = tracker.getRawRotation()
@@ -368,11 +357,15 @@ class TrackerResetsHandler(val tracker: Tracker) {
 				// Add drift time to total
 				driftTimes.add(System.currentTimeMillis() - driftSince)
 				totalDriftTime = 0
-				for (time in driftTimes) { totalDriftTime += time }
+				for (time in driftTimes) {
+					totalDriftTime += time
+				}

 				// Calculate drift Quaternions' weights
 				val driftWeights = ArrayList<Float>(driftTimes.size)
-				for (time in driftTimes) { driftWeights.add(time.toFloat() / totalDriftTime.toFloat()) }
+				for (time in driftTimes) {
+					driftWeights.add(time.toFloat() / totalDriftTime.toFloat())
+				}

 				// Make it so recent Quaternions weigh more
 				for (i in driftWeights.size - 1 downTo 1) {
@@ -396,11 +389,15 @@ class TrackerResetsHandler(val tracker: Tracker) {
 				// Add drift time to total
 				driftTimes[driftTimes.size - 1] = driftTimes.latest + System.currentTimeMillis() - driftSince
 				totalDriftTime = 0
-				for (time in driftTimes) { totalDriftTime += time }
+				for (time in driftTimes) {
+					totalDriftTime += time
+				}

 				// Calculate drift Quaternions' weights
 				val driftWeights = ArrayList<Float>(driftTimes.size)
-				for (time in driftTimes) { driftWeights.add(time.toFloat() / totalDriftTime.toFloat()) }
+				for (time in driftTimes) {
+					driftWeights.add(time.toFloat() / totalDriftTime.toFloat())
+				}

 				// Make it so recent Quaternions weigh more
 				for (i in driftWeights.size - 1 downTo 1) {
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerUtils.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerUtils.kt
@@ -16,9 +16,7 @@ object TrackerUtils {
 	fun getTrackerForSkeleton(
 		allTrackers: List<Tracker>,
 		position: TrackerPosition,
-	): Tracker? {
-		return getNonInternalTrackerForBodyPosition(allTrackers, position)
-	}
+	): Tracker? = getNonInternalTrackerForBodyPosition(allTrackers, position)

 	/**
 	 * Finds the first non-internal tracker from allTrackers
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/FeatureFlags.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/FeatureFlags.kt
@@ -13,7 +13,7 @@ class FirmwareFeatures {

 		// Add new flags here

-		BITS_TOTAL, ;
+		BITS_TOTAL,
 	}

 	fun has(flag: FirmwareFeatureFlags): Boolean {
@@ -50,7 +50,7 @@ enum class ServerFeatureFlags {

 	companion object {
 		val flagsEnabled: Set<ServerFeatureFlags> = setOf(
-			PROTOCOL_BUNDLE_SUPPORT
+			PROTOCOL_BUNDLE_SUPPORT,

 			// Add enabled flags here
 		)
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/FirmwareConstants.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/FirmwareConstants.kt
@@ -45,27 +45,25 @@ enum class BoardType(val id: UInt) {
 	DEV_RESERVED(250u),
 	;

-	override fun toString(): String {
-		return when (this) {
-			UNKNOWN -> "Unknown"
-			SLIMEVR_LEGACY -> "SlimeVR Legacy"
-			SLIMEVR_DEV -> "SlimeVR Dev"
-			NODEMCU -> "NodeMCU"
-			CUSTOM -> "Custom Board"
-			WROOM32 -> "WROOM32"
-			WEMOSD1MINI -> "Wemos D1 Mini"
-			TTGO_TBASE -> "TTGO T-Base"
-			ESP01 -> "ESP-01"
-			SLIMEVR -> "SlimeVR"
-			LOLIN_C3_MINI -> "Lolin C3 Mini"
-			BEETLE32C32 -> "Beetle ESP32-C3"
-			ES32C3DEVKITM1 -> "Espressif ESP32-C3 DevKitM-1"
-			OWOTRACK -> "owoTrack"
-			WRANGLER -> "Wrangler Joycons"
-			MOCOPI -> "Sony Mocopi"
-			WEMOSWROOM02 -> "Wemos Wroom-02 D1 Mini"
-			DEV_RESERVED -> "Prototype"
-		}
+	override fun toString(): String = when (this) {
+		UNKNOWN -> "Unknown"
+		SLIMEVR_LEGACY -> "SlimeVR Legacy"
+		SLIMEVR_DEV -> "SlimeVR Dev"
+		NODEMCU -> "NodeMCU"
+		CUSTOM -> "Custom Board"
+		WROOM32 -> "WROOM32"
+		WEMOSD1MINI -> "Wemos D1 Mini"
+		TTGO_TBASE -> "TTGO T-Base"
+		ESP01 -> "ESP-01"
+		SLIMEVR -> "SlimeVR"
+		LOLIN_C3_MINI -> "Lolin C3 Mini"
+		BEETLE32C32 -> "Beetle ESP32-C3"
+		ES32C3DEVKITM1 -> "Espressif ESP32-C3 DevKitM-1"
+		OWOTRACK -> "owoTrack"
+		WRANGLER -> "Wrangler Joycons"
+		MOCOPI -> "Sony Mocopi"
+		WEMOSWROOM02 -> "Wemos Wroom-02 D1 Mini"
+		DEV_RESERVED -> "Prototype"
 	}

 	companion object {
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/SensorTap.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/SensorTap.kt
@@ -4,6 +4,8 @@ data class SensorTap(val tapBits: Int) {
 	val doubleTap = tapBits and 0x40 > 0

 	enum class TapAxis {
-		X, Y, Z
+		X,
+		Y,
+		Z,
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/TrackersUDPServer.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/TrackersUDPServer.kt
@@ -26,8 +26,7 @@ import java.util.function.Consumer
 /**
 * Receives trackers data by UDP using extended owoTrack protocol.
 */
-class TrackersUDPServer(private val port: Int, name: String, private val trackersConsumer: Consumer<Tracker>) :
-	Thread(name) {
+class TrackersUDPServer(private val port: Int, name: String, private val trackersConsumer: Consumer<Tracker>) : Thread(name) {
 	private val random = Random()
 	private val connections: MutableList<UDPDevice> = FastList()
 	private val connectionsByAddress: MutableMap<SocketAddress, UDPDevice> = HashMap()
@@ -83,7 +82,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 						firmware: ${handshake.firmware} ($firmwareBuild),
 						mac: ${handshake.macString},
 						name: $name
-						""".trimIndent()
+						""".trimIndent(),
 					)
 			} ?: connectionsByAddress[socketAddr]?.apply {
 				// Look for an existing connection by the socket address (IP and port)
@@ -104,7 +103,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 						firmware: ${handshake.firmware} ($firmwareBuild),
 						mac: ${handshake.macString},
 						name: $name
-						""".trimIndent()
+						""".trimIndent(),
 					)
 			}
 		} ?: run {
@@ -114,7 +113,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				addr,
 				handshake.macString ?: addr.hostAddress,
 				handshake.boardType,
-				handshake.mcuType
+				handshake.mcuType,
 			)
 			VRServer.instance.deviceManager.addDevice(connection)
 			connection.firmwareBuild = handshake.firmwareBuild
@@ -148,7 +147,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 						firmware: ${handshake.firmware} (${connection.firmwareBuild}),
 						mac: ${handshake.macString},
 						name: ${connection.name}
-						""".trimIndent()
+						""".trimIndent(),
 					)
 			}
 			if (connection.protocol == NetworkProtocol.OWO_LEGACY || connection.firmwareBuild < 9) {
@@ -189,7 +188,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				allowFiltering = true,
 				needsReset = true,
 				needsMounting = true,
-				usesTimeout = true
+				usesTimeout = true,
 			)
 			connection.trackers[trackerId] = imuTracker
 			trackersConsumer.accept(imuTracker)
@@ -233,7 +232,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				} catch (e: Exception) {
 					LogManager.warning(
 						"[TrackerServer] Error parsing packet ${packetToString(received)}",
-						e
+						e,
 					)
 				}
 				if (lastKeepup + 500 < System.currentTimeMillis()) {
@@ -298,7 +297,9 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 		val tracker: Tracker?
 		when (packet) {
 			is UDPPacket0Heartbeat, is UDPPacket1Heartbeat -> {}
+
 			is UDPPacket3Handshake -> setUpNewConnection(received, packet)
+
 			is RotationPacket -> {
 				var rot = packet.rotation
 				rot = AXES_OFFSET.times(rot)
@@ -307,6 +308,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				tracker.setRotation(rot)
 				tracker.dataTick()
 			}
+
 			is UDPPacket17RotationData -> {
 				tracker = connection?.getTracker(packet.sensorId)
 				if (tracker == null) return
@@ -328,13 +330,16 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 					}
 				}
 			}
+
 			is UDPPacket18MagnetometerAccuracy -> {}
+
 			is UDPPacket4Acceleration -> {
 				tracker = connection?.getTracker(packet.sensorId)
 				if (tracker == null) return
 				// Switch x and y around to adjust for different axes
 				tracker.setAcceleration(Vector3(packet.acceleration.y, packet.acceleration.x, packet.acceleration.z))
 			}
+
 			is UDPPacket10PingPong -> {
 				if (connection == null) return
 				if (connection.lastPingPacketId == packet.pingId) {
@@ -344,7 +349,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 					}
 				} else {
 					LogManager.debug(
-						"[TrackerServer] Wrong ping id ${packet.pingId} != ${connection.lastPingPacketId}"
+						"[TrackerServer] Wrong ping id ${packet.pingId} != ${connection.lastPingPacketId}",
 					)
 				}
 			}
@@ -363,13 +368,13 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				tracker = connection?.getTracker(packet.sensorId)
 				if (tracker == null) return
 				LogManager.info(
-					"[TrackerServer] Tap packet received from ${tracker.name}: ${packet.tap}"
+					"[TrackerServer] Tap packet received from ${tracker.name}: ${packet.tap}",
 				)
 			}

 			is UDPPacket14Error -> {
 				LogManager.severe(
-					"[TrackerServer] Error received from ${received.socketAddress}: ${packet.errorNumber}"
+					"[TrackerServer] Error received from ${received.socketAddress}: ${packet.errorNumber}",
 				)
 				tracker = connection?.getTracker(packet.sensorId)
 				if (tracker == null) return
@@ -385,7 +390,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				parser.writeSensorInfoResponse(bb, connection, packet)
 				socket.send(DatagramPacket(rcvBuffer, bb.position(), connection.address))
 				LogManager.info(
-					"[TrackerServer] Sensor info for ${connection.descriptiveName}/${packet.sensorId}: ${packet.sensorStatus}"
+					"[TrackerServer] Sensor info for ${connection.descriptiveName}/${packet.sensorId}: ${packet.sensorStatus}",
 				)
 			}

@@ -406,13 +411,13 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 					UDPPacket21UserAction.RESET_FULL -> {
 						name = "Full reset"
 						VRServer.instance.resetHandler.sendStarted(ResetType.Full)
-						VRServer.instance.resetTrackersFull(resetSourceName)
+						VRServer.instance.resetTrackersFull(RESET_SOURCE_NAME)
 					}

 					UDPPacket21UserAction.RESET_YAW -> {
 						name = "Yaw reset"
 						VRServer.instance.resetHandler.sendStarted(ResetType.Yaw)
-						VRServer.instance.resetTrackersYaw(resetSourceName)
+						VRServer.instance.resetTrackersYaw(RESET_SOURCE_NAME)
 					}

 					UDPPacket21UserAction.RESET_MOUNTING -> {
@@ -421,17 +426,17 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 							.instance
 							.resetHandler
 							.sendStarted(ResetType.Mounting)
-						VRServer.instance.resetTrackersMounting(resetSourceName)
+						VRServer.instance.resetTrackersMounting(RESET_SOURCE_NAME)
 					}

 					UDPPacket21UserAction.PAUSE_TRACKING -> {
 						name = "Pause tracking toggle"
-						VRServer.instance.togglePauseTracking(resetSourceName)
+						VRServer.instance.togglePauseTracking(RESET_SOURCE_NAME)
 					}
 				}

 				LogManager.info(
-					"[TrackerServer] User action from ${connection.descriptiveName } received. $name performed."
+					"[TrackerServer] User action from ${connection.descriptiveName } received. $name performed.",
 				)
 			}

@@ -449,16 +454,14 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 		}
 	}

-	fun getConnections(): List<UDPDevice?> {
-		return connections
-	}
+	fun getConnections(): List<UDPDevice?> = connections

 	companion object {
 		/**
 		 * Change between IMU axes and OpenGL/SteamVR axes
 		 */
 		private val AXES_OFFSET = fromRotationVector(-FastMath.HALF_PI, 0f, 0f)
-		private const val resetSourceName = "TrackerServer"
+		private const val RESET_SOURCE_NAME = "TrackerServer"
 		private fun packetToString(packet: DatagramPacket?): String {
 			val sb = StringBuilder()
 			sb.append("DatagramPacket{")
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPDevice.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPDevice.kt
@@ -61,9 +61,7 @@ class UDPDevice(
 		return true
 	}

-	override fun toString(): String {
-		return "udp:/$ipAddress"
-	}
+	override fun toString(): String = "udp:/$ipAddress"

 	override var manufacturer: String?
 		get() = "SlimeVR"
@@ -76,7 +74,5 @@ class UDPDevice(
 			super.firmwareVersion = firmwareVersion
 		}

-	fun getTracker(id: Int): Tracker? {
-		return trackers[id]
-	}
+	fun getTracker(id: Int): Tracker? = trackers[id]
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPPacket.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPPacket.kt
@@ -72,9 +72,7 @@ sealed interface SensorSpecificPacket {
 		 * @param sensorId
 		 * @return
 		 */
-		fun isGlobal(sensorId: Int): Boolean {
-			return sensorId == 255
-		}
+		fun isGlobal(sensorId: Int): Boolean = sensorId == 255
 	}
 }

@@ -85,7 +83,8 @@ sealed interface RotationPacket : SensorSpecificPacket {
 data object UDPPacket0Heartbeat : UDPPacket(0)
 data object UDPPacket1Heartbeat : UDPPacket(1)
 data class UDPPacket1Rotation(override var rotation: Quaternion = Quaternion.IDENTITY) :
-	UDPPacket(1), RotationPacket {
+	UDPPacket(1),
+	RotationPacket {
 	override val sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		rotation = UDPUtils.getSafeBufferQuaternion(buf)
@@ -112,7 +111,9 @@ data class UDPPacket3Handshake(
 			mcuType = MCUType.getById(buf.int.toUInt()) ?: MCUType.UNKNOWN
 		} // MCU TYPE
 		if (buf.remaining() > 11) {
-			buf.int; buf.int; buf.int // IMU info
+			buf.int
+			buf.int
+			buf.int // IMU info
 		}
 		if (buf.remaining() > 3) firmwareBuild = buf.int
 		var length = 0
@@ -130,7 +131,7 @@ data class UDPPacket3Handshake(
 				mac[2],
 				mac[3],
 				mac[4],
-				mac[5]
+				mac[5],
 			)
 			if (macString == "00:00:00:00:00:00") macString = null
 		}
@@ -146,7 +147,8 @@ data class UDPPacket3Handshake(
 }

 data class UDPPacket4Acceleration(var acceleration: Vector3 = Vector3.NULL) :
-	UDPPacket(4), SensorSpecificPacket {
+	UDPPacket(4),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		acceleration = Vector3(UDPUtils.getSafeBufferFloat(buf), UDPUtils.getSafeBufferFloat(buf), UDPUtils.getSafeBufferFloat(buf))
@@ -199,7 +201,8 @@ data class UDPPacket12BatteryLevel(
 }

 data class UDPPacket13Tap(var tap: SensorTap = SensorTap(0)) :
-	UDPPacket(13), SensorSpecificPacket {
+	UDPPacket(13),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -208,7 +211,8 @@ data class UDPPacket13Tap(var tap: SensorTap = SensorTap(0)) :
 }

 data class UDPPacket14Error(var errorNumber: Int = 0) :
-	UDPPacket(14), SensorSpecificPacket {
+	UDPPacket(14),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -219,7 +223,8 @@ data class UDPPacket14Error(var errorNumber: Int = 0) :
 data class UDPPacket15SensorInfo(
 	var sensorStatus: Int = 0,
 	var sensorType: IMUType = IMUType.UNKNOWN,
-) : UDPPacket(15), SensorSpecificPacket {
+) : UDPPacket(15),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -231,19 +236,18 @@ data class UDPPacket15SensorInfo(
 	}

 	companion object {
-		fun getStatus(sensorStatus: Int): TrackerStatus? {
-			return when (sensorStatus) {
-				0 -> TrackerStatus.DISCONNECTED
-				1 -> TrackerStatus.OK
-				2 -> TrackerStatus.ERROR
-				else -> null
-			}
+		fun getStatus(sensorStatus: Int): TrackerStatus? = when (sensorStatus) {
+			0 -> TrackerStatus.DISCONNECTED
+			1 -> TrackerStatus.OK
+			2 -> TrackerStatus.ERROR
+			else -> null
 		}
 	}
 }

 data class UDPPacket16Rotation2(override var rotation: Quaternion = Quaternion.IDENTITY) :
-	UDPPacket(16), RotationPacket {
+	UDPPacket(16),
+	RotationPacket {
 	override val sensorId = 1
 	override fun readData(buf: ByteBuffer) {
 		rotation = UDPUtils.getSafeBufferQuaternion(buf)
@@ -254,7 +258,8 @@ data class UDPPacket17RotationData(
 	var rotation: Quaternion = Quaternion.IDENTITY,
 	var dataType: Int = 0,
 	var calibrationInfo: Int = 0,
-) : UDPPacket(17), SensorSpecificPacket {
+) : UDPPacket(17),
+	SensorSpecificPacket {
 	override var sensorId: Int = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -270,7 +275,8 @@ data class UDPPacket17RotationData(
 }

 data class UDPPacket18MagnetometerAccuracy(var accuracyInfo: Float = 0.0f) :
-	UDPPacket(18), SensorSpecificPacket {
+	UDPPacket(18),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -279,7 +285,8 @@ data class UDPPacket18MagnetometerAccuracy(var accuracyInfo: Float = 0.0f) :
 }

 data class UDPPacket19SignalStrength(var signalStrength: Int = 0) :
-	UDPPacket(19), SensorSpecificPacket {
+	UDPPacket(19),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -288,7 +295,8 @@ data class UDPPacket19SignalStrength(var signalStrength: Int = 0) :
 }

 data class UDPPacket20Temperature(var temperature: Float = 0.0f) :
-	UDPPacket(20), SensorSpecificPacket {
+	UDPPacket(20),
+	SensorSpecificPacket {
 	override var sensorId = 0
 	override fun readData(buf: ByteBuffer) {
 		sensorId = buf.get().toInt() and 0xFF
@@ -311,8 +319,7 @@ data class UDPPacket21UserAction(var type: Int = 0) : UDPPacket(21) {

 class UDPPacket22FeatureFlags(
 	var firmwareFeatures: FirmwareFeatures = FirmwareFeatures(),
-) :
-	UDPPacket(22) {
+) : UDPPacket(22) {
 	override fun readData(buf: ByteBuffer) {
 		firmwareFeatures = FirmwareFeatures.from(buf, buf.remaining())
 	}
@@ -325,8 +332,7 @@ class UDPPacket22FeatureFlags(
 data class UDPPacket200ProtocolChange(
 	var targetProtocol: Int = 0,
 	var targetProtocolVersion: Int = 0,
-) :
-	UDPPacket(200) {
+) : UDPPacket(200) {
 	override fun readData(buf: ByteBuffer) {
 		targetProtocol = buf.get().toInt() and 0xFF
 		targetProtocolVersion = buf.get().toInt() and 0xFF
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPProtocolParser.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPProtocolParser.kt
@@ -13,7 +13,7 @@ class UDPProtocolParser {
 			if (!connection.isNextPacket(packetNumber)) {
 				// Skip packet because it's not next
 				throw IOException(
-					"Out of order packet received: id $packetId, number $packetNumber, last ${connection.lastPacketNumber}, from $connection"
+					"Out of order packet received: id $packetId, number $packetNumber, last ${connection.lastPacketNumber}, from $connection",
 				)
 			}
 			connection.lastPacket = System.currentTimeMillis()
@@ -77,28 +77,26 @@ class UDPProtocolParser {
 		buf.put(packet.sensorStatus.toByte())
 	}

-	protected fun getNewPacket(packetId: Int): UDPPacket? {
-		return when (packetId) {
-			PACKET_HEARTBEAT -> UDPPacket0Heartbeat
-			PACKET_ROTATION -> UDPPacket1Rotation()
-			PACKET_HANDSHAKE -> UDPPacket3Handshake()
-			PACKET_PING_PONG -> UDPPacket10PingPong()
-			PACKET_ACCEL -> UDPPacket4Acceleration()
-			PACKET_SERIAL -> UDPPacket11Serial()
-			PACKET_BATTERY_LEVEL -> UDPPacket12BatteryLevel()
-			PACKET_TAP -> UDPPacket13Tap()
-			PACKET_ERROR -> UDPPacket14Error()
-			PACKET_SENSOR_INFO -> UDPPacket15SensorInfo()
-			PACKET_ROTATION_2 -> UDPPacket16Rotation2()
-			PACKET_ROTATION_DATA -> UDPPacket17RotationData()
-			PACKET_MAGNETOMETER_ACCURACY -> UDPPacket18MagnetometerAccuracy()
-			PACKET_SIGNAL_STRENGTH -> UDPPacket19SignalStrength()
-			PACKET_TEMPERATURE -> UDPPacket20Temperature()
-			PACKET_USER_ACTION -> UDPPacket21UserAction()
-			PACKET_FEATURE_FLAGS -> UDPPacket22FeatureFlags()
-			PACKET_PROTOCOL_CHANGE -> UDPPacket200ProtocolChange()
-			else -> null
-		}
+	protected fun getNewPacket(packetId: Int): UDPPacket? = when (packetId) {
+		PACKET_HEARTBEAT -> UDPPacket0Heartbeat
+		PACKET_ROTATION -> UDPPacket1Rotation()
+		PACKET_HANDSHAKE -> UDPPacket3Handshake()
+		PACKET_PING_PONG -> UDPPacket10PingPong()
+		PACKET_ACCEL -> UDPPacket4Acceleration()
+		PACKET_SERIAL -> UDPPacket11Serial()
+		PACKET_BATTERY_LEVEL -> UDPPacket12BatteryLevel()
+		PACKET_TAP -> UDPPacket13Tap()
+		PACKET_ERROR -> UDPPacket14Error()
+		PACKET_SENSOR_INFO -> UDPPacket15SensorInfo()
+		PACKET_ROTATION_2 -> UDPPacket16Rotation2()
+		PACKET_ROTATION_DATA -> UDPPacket17RotationData()
+		PACKET_MAGNETOMETER_ACCURACY -> UDPPacket18MagnetometerAccuracy()
+		PACKET_SIGNAL_STRENGTH -> UDPPacket19SignalStrength()
+		PACKET_TEMPERATURE -> UDPPacket20Temperature()
+		PACKET_USER_ACTION -> UDPPacket21UserAction()
+		PACKET_FEATURE_FLAGS -> UDPPacket22FeatureFlags()
+		PACKET_PROTOCOL_CHANGE -> UDPPacket200ProtocolChange()
+		else -> null
 	}

 	companion object {
--- a/server/core/src/main/java/io/eiren/util/OperatingSystem.kt
+++ b/server/core/src/main/java/io/eiren/util/OperatingSystem.kt
@@ -14,6 +14,7 @@ enum class OperatingSystem(
 	OSX("osx", arrayOf("mac")),
 	UNKNOWN("unknown", arrayOf()),
 	;
+
 	companion object {
 		val currentPlatform: OperatingSystem by lazy {
 			val osName = System.getProperty("os.name").lowercase(Locale.getDefault())
@@ -46,16 +47,22 @@ enum class OperatingSystem(
 		fun resolveConfigDirectory(identifier: String): Path? = when (currentPlatform) {
 			LINUX -> System.getenv("XDG_CONFIG_HOME")?.let { Path(it, identifier) }
 				?: System.getenv("HOME")?.let { Path(it, ".config", identifier) }
+
 			WINDOWS -> System.getenv("AppData")?.let { Path(it, identifier) }
+
 			OSX -> System.getenv("HOME")?.let { Path(it, "Library", "Application Support", identifier) }
+
 			UNKNOWN -> null
 		}

 		fun resolveLogDirectory(identifier: String): Path? = when (currentPlatform) {
 			LINUX -> System.getenv("XDG_DATA_HOME")?.let { Path(it, identifier, "logs") }
 				?: System.getenv("HOME")?.let { Path(it, ".local", "share", identifier, "logs") }
+
 			WINDOWS -> System.getenv("AppData")?.let { Path(it, identifier, "logs") }
+
 			OSX -> System.getenv("HOME")?.let { Path(it, "Library", "Logs", identifier) }
+
 			UNKNOWN -> null
 		}
 	}
--- a/server/core/src/main/java/io/github/axisangles/ktmath/EulerAngles.kt
+++ b/server/core/src/main/java/io/github/axisangles/ktmath/EulerAngles.kt
@@ -25,37 +25,42 @@ data class EulerAngles(val order: EulerOrder, val x: Float, val y: Float, val z:
 				cX * cY * cZ - sX * sY * sZ,
 				cY * cZ * sX + cX * sY * sZ,
 				cX * cZ * sY - cY * sX * sZ,
-				cZ * sX * sY + cX * cY * sZ
+				cZ * sX * sY + cX * cY * sZ,
 			)
+
 			EulerOrder.YZX -> Quaternion(
 				cX * cY * cZ - sX * sY * sZ,
 				cY * cZ * sX + cX * sY * sZ,
 				cX * cZ * sY + cY * sX * sZ,
-				cX * cY * sZ - cZ * sX * sY
+				cX * cY * sZ - cZ * sX * sY,
 			)
+
 			EulerOrder.ZXY -> Quaternion(
 				cX * cY * cZ - sX * sY * sZ,
 				cY * cZ * sX - cX * sY * sZ,
 				cX * cZ * sY + cY * sX * sZ,
-				cZ * sX * sY + cX * cY * sZ
+				cZ * sX * sY + cX * cY * sZ,
 			)
+
 			EulerOrder.ZYX -> Quaternion(
 				cX * cY * cZ + sX * sY * sZ,
 				cY * cZ * sX - cX * sY * sZ,
 				cX * cZ * sY + cY * sX * sZ,
-				cX * cY * sZ - cZ * sX * sY
+				cX * cY * sZ - cZ * sX * sY,
 			)
+
 			EulerOrder.YXZ -> Quaternion(
 				cX * cY * cZ + sX * sY * sZ,
 				cY * cZ * sX + cX * sY * sZ,
 				cX * cZ * sY - cY * sX * sZ,
-				cX * cY * sZ - cZ * sX * sY
+				cX * cY * sZ - cZ * sX * sY,
 			)
+
 			EulerOrder.XZY -> Quaternion(
 				cX * cY * cZ + sX * sY * sZ,
 				cY * cZ * sX - cX * sY * sZ,
 				cX * cZ * sY - cY * sX * sZ,
-				cZ * sX * sY + cX * cY * sZ
+				cZ * sX * sY + cX * cY * sZ,
 			)
 		}
 	}
@@ -74,9 +79,9 @@ data class EulerAngles(val order: EulerOrder, val x: Float, val y: Float, val z:
 		val sY = sin(y)
 		val sZ = sin(z)

+		@Suppress("ktlint")
 		return when (order) {
 			// ktlint ruining spacing
-			/* ktlint-disable */
 			EulerOrder.XYZ -> Matrix3(
 					  cY*cZ      ,      -cY*sZ      ,        sY        ,
 				cZ*sX*sY + cX*sZ , cX*cZ - sX*sY*sZ ,      -cY*sX      ,
@@ -106,7 +111,6 @@ data class EulerAngles(val order: EulerOrder, val x: Float, val y: Float, val z:
 					  cY*cZ      ,       -sZ        ,       cZ*sY      ,
 				sX*sY + cX*cY*sZ ,       cX*cZ      , cX*sY*sZ - cY*sX ,
 				cY*sX*sZ - cX*sY ,       cZ*sX      , cX*cY + sX*sY*sZ )
-			/* ktlint-enable */
 		}
 	}
 }
--- a/server/core/src/main/java/io/github/axisangles/ktmath/Matrix3.kt
+++ b/server/core/src/main/java/io/github/axisangles/ktmath/Matrix3.kt
@@ -1,16 +1,14 @@
-@file:Suppress("unused")
+@file:Suppress("ktlint", "unused")

 package io.github.axisangles.ktmath

 import kotlin.math.*

-/* ktlint-disable */
 data class Matrix3(
 	val xx: Float, val yx: Float, val zx: Float,
 	val xy: Float, val yy: Float, val zy: Float,
 	val xz: Float, val yz: Float, val zz: Float
 ) {
-/* ktlint-enable */
 	companion object {
 		val NULL = Matrix3(
 			0f, 0f, 0f,
@@ -416,4 +414,4 @@ data class Matrix3(

 operator fun Float.times(that: Matrix3): Matrix3 = that * this

-operator fun Float.div(that: Matrix3): Matrix3 = that.inv() * this
+operator fun Float.div(that: Matrix3): Matrix3 = that.inv() * this
--- a/server/core/src/main/java/io/github/axisangles/ktmath/Quaternion.kt
+++ b/server/core/src/main/java/io/github/axisangles/ktmath/Quaternion.kt
@@ -44,11 +44,11 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 		 * @return Q
 		 **/
 		fun fromTo(u: Vector3, v: Vector3): Quaternion {
-			val U = Quaternion(0f, u)
-			val V = Quaternion(0f, v)
-			val D = V / U
+			val u = Quaternion(0f, u)
+			val v = Quaternion(0f, v)
+			val d = v / u

-			return (D + D.len()).unit()
+			return (d + d.len()).unit()
 		}

 		/**
@@ -92,7 +92,7 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 		this.w + that.w,
 		this.x + that.x,
 		this.y + that.y,
-		this.z + that.z
+		this.z + that.z,
 	)

 	operator fun plus(that: Float): Quaternion =
@@ -102,7 +102,7 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 		this.w - that.w,
 		this.x - that.x,
 		this.y - that.y,
-		this.z - that.z
+		this.z - that.z,
 	)

 	operator fun minus(that: Float): Quaternion =
@@ -140,14 +140,14 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 		this.w * that,
 		this.x * that,
 		this.y * that,
-		this.z * that
+		this.z * that,
 	)

 	operator fun times(that: Quaternion): Quaternion = Quaternion(
 		this.w * that.w - this.x * that.x - this.y * that.y - this.z * that.z,
 		this.x * that.w + this.w * that.x - this.z * that.y + this.y * that.z,
 		this.y * that.w + this.z * that.x + this.w * that.y - this.x * that.z,
-		this.z * that.w - this.y * that.x + this.x * that.y + this.w * that.z
+		this.z * that.w - this.y * that.x + this.x * that.y + this.w * that.z,
 	)

 	/**
@@ -160,7 +160,7 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 			w / lenSq,
 			-x / lenSq,
 			-y / lenSq,
-			-z / lenSq
+			-z / lenSq,
 		)
 	}

@@ -336,10 +336,10 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 	 * @return Q
 	 **/
 	fun align(u: Vector3, v: Vector3): Quaternion {
-		val U = Quaternion(0f, u)
-		val V = Quaternion(0f, v)
+		val u = Quaternion(0f, u)
+		val v = Quaternion(0f, v)

-		return (V * this / U + (V / U).len() * this) / 2f
+		return (v * this / u + (v / u).len() * this) / 2f
 	}

 	/**
@@ -379,18 +379,17 @@ data class Quaternion(val w: Float, val x: Float, val y: Float, val z: Float) {
 	 **/
 	fun toRotationVector(): Vector3 = 2f * twinNearest(IDENTITY).log().xyz

+	@Suppress("ktlint")
 	/**
 	 * computes the matrix representing this quaternion's rotation
 	 * @return rotation matrix
 	 **/
 	fun toMatrix(): Matrix3 {
 		val d = lenSq()
-		/* ktlint-disable */
 		return Matrix3(
 			(w*w + x*x - y*y - z*z)/d ,      2f*(x*y - w*z)/d     ,      2f*(w*y + x*z)/d     ,
 			     2f*(x*y + w*z)/d     , (w*w - x*x + y*y - z*z)/d ,      2f*(y*z - w*x)/d     ,
 			     2f*(x*z - w*y)/d     ,      2f*(w*x + y*z)/d     , (w*w - x*x - y*y + z*z)/d )
-		/* ktlint-enable */
 	}

 	/**
--- a/server/core/src/main/java/io/github/axisangles/ktmath/Vector3.kt
+++ b/server/core/src/main/java/io/github/axisangles/ktmath/Vector3.kt
@@ -20,13 +20,13 @@ data class Vector3(val x: Float, val y: Float, val z: Float) {
 	operator fun plus(that: Vector3) = Vector3(
 		this.x + that.x,
 		this.y + that.y,
-		this.z + that.z
+		this.z + that.z,
 	)

 	operator fun minus(that: Vector3) = Vector3(
 		this.x - that.x,
 		this.y - that.y,
-		this.z - that.z
+		this.z - that.z,
 	)

 	/**
@@ -44,13 +44,13 @@ data class Vector3(val x: Float, val y: Float, val z: Float) {
 	infix fun cross(that: Vector3) = Vector3(
 		this.y * that.z - this.z * that.y,
 		this.z * that.x - this.x * that.z,
-		this.x * that.y - this.y * that.x
+		this.x * that.y - this.y * that.x,
 	)

 	infix fun hadamard(that: Vector3) = Vector3(
 		this.x * that.x,
 		this.y * that.y,
-		this.z * that.z
+		this.z * that.z,
 	)

 	/**
@@ -76,14 +76,14 @@ data class Vector3(val x: Float, val y: Float, val z: Float) {
 	operator fun times(that: Float) = Vector3(
 		this.x * that,
 		this.y * that,
-		this.z * that
+		this.z * that,
 	)

 	// computes division of this vector3 by a float
 	operator fun div(that: Float) = Vector3(
 		this.x / that,
 		this.y / that,
-		this.z / that
+		this.z / that,
 	)

 	/**
--- a/server/core/src/test/java/dev/slimevr/unit/ReferenceAdjustmentsTests.kt
+++ b/server/core/src/test/java/dev/slimevr/unit/ReferenceAdjustmentsTests.kt
@@ -26,14 +26,14 @@ class ReferenceAdjustmentsTests {
 		get() = anglesSet
 			.map { p: AnglesSet ->
 				DynamicTest.dynamicTest(
-					"Adjustment Yaw Test of Tracker(${p.pitch},${p.yaw},${p.roll})"
+					"Adjustment Yaw Test of Tracker(${p.pitch},${p.yaw},${p.roll})",
 				) {
 					yaws.forEach {
 						checkReferenceAdjustmentYaw(
 							q(p.pitch.toFloat(), p.yaw.toFloat(), p.roll.toFloat()),
 							0,
 							it,
-							0
+							0,
 						)
 					}
 				}
@@ -44,7 +44,7 @@ class ReferenceAdjustmentsTests {
 		get() = anglesSet
 			.map { p: AnglesSet ->
 				DynamicTest.dynamicTest(
-					"Adjustment Full Test of Tracker(${p.pitch},${p.yaw},${p.roll})"
+					"Adjustment Full Test of Tracker(${p.pitch},${p.yaw},${p.roll})",
 				) {
 					anglesSet
 						.forEach {
@@ -52,7 +52,7 @@ class ReferenceAdjustmentsTests {
 								q(p.pitch.toFloat(), p.yaw.toFloat(), p.roll.toFloat()),
 								it.pitch,
 								it.yaw,
-								it.roll
+								it.roll,
 							)
 						}
 				}
@@ -66,13 +66,13 @@ class ReferenceAdjustmentsTests {
 			.flatMap { p: AnglesSet ->
 				yaws.asSequence().map {
 					DynamicTest.dynamicTest(
-						"Adjustment Rotation Test of Tracker(${p.pitch},${p.yaw},${p.roll}), Ref $it"
+						"Adjustment Rotation Test of Tracker(${p.pitch},${p.yaw},${p.roll}), Ref $it",
 					) {
 						testAdjustedTrackerRotation(
 							q(p.pitch.toFloat(), p.yaw.toFloat(), p.roll.toFloat()),
 							0,
 							it,
-							0
+							0,
 						)
 					}
 				}.asStream()
@@ -94,7 +94,7 @@ class ReferenceAdjustmentsTests {
 			hasRotation = true,
 			isInternal = true,
 			imuType = IMUType.UNKNOWN,
-			needsReset = true
+			needsReset = true,
 		)
 		tracker.setRotation(trackerQuat)
 		tracker.resetsHandler.resetFull(referenceQuat)
@@ -106,7 +106,7 @@ class ReferenceAdjustmentsTests {
 		Assertions.assertEquals(
 			QuatEqualFullWithEpsilon(referenceQuat),
 			QuatEqualFullWithEpsilon(read),
-			"Adjusted quat is not equal to reference quat (${toDegs(referenceQuat)} vs ${toDegs(read)})"
+			"Adjusted quat is not equal to reference quat (${toDegs(referenceQuat)} vs ${toDegs(read)})",
 		)
 	}

@@ -127,7 +127,7 @@ class ReferenceAdjustmentsTests {
 			hasRotation = true,
 			isInternal = true,
 			imuType = IMUType.UNKNOWN,
-			needsReset = true
+			needsReset = true,
 		)
 		tracker.setRotation(trackerQuat)
 		tracker.resetsHandler.resetYaw(referenceQuat)
@@ -136,7 +136,7 @@ class ReferenceAdjustmentsTests {
 		Assertions.assertEquals(
 			QuatEqualYawWithEpsilon(referenceQuat),
 			QuatEqualYawWithEpsilon(read),
-			"Adjusted quat is not equal to reference quat (${toDegs(referenceQuat)} vs ${toDegs(read)})"
+			"Adjusted quat is not equal to reference quat (${toDegs(referenceQuat)} vs ${toDegs(read)})",
 		)
 	}

@@ -156,7 +156,7 @@ class ReferenceAdjustmentsTests {
 			hasRotation = true,
 			isInternal = true,
 			imuType = IMUType.UNKNOWN,
-			needsReset = true
+			needsReset = true,
 		)
 		tracker.setRotation(trackerQuat)
 		tracker.resetsHandler.resetFull(referenceQuat)
@@ -177,13 +177,13 @@ class ReferenceAdjustmentsTests {
 						EulerOrder.YZX,
 						pitch * FastMath.DEG_TO_RAD,
 						yaw * FastMath.DEG_TO_RAD,
-						roll * FastMath.DEG_TO_RAD
+						roll * FastMath.DEG_TO_RAD,
 					).toQuaternion()
 					val rotationCompare = EulerAngles(
 						EulerOrder.YZX,
 						pitch * FastMath.DEG_TO_RAD,
 						(yaw + refYaw) * FastMath.DEG_TO_RAD,
-						roll * FastMath.DEG_TO_RAD
+						roll * FastMath.DEG_TO_RAD,
 					).toQuaternion()
 					rotationNode.localTransform.rotation = rotation
 					rotationNode.update()
@@ -200,7 +200,7 @@ class ReferenceAdjustmentsTests {
 							FloatMath.equalsToZero(anglesDiff.x) &&
 								FloatMath.equalsToZero(anglesDiff.y) &&
 								FloatMath.equalsToZero(anglesDiff.z),
-							name(yaw, pitch, roll, angles, anglesAdj, anglesDiff)
+							name(yaw, pitch, roll, angles, anglesAdj, anglesDiff),
 						)
 					} else {
 						if (FloatMath.equalsToZero(anglesDiff.x) &&
@@ -237,7 +237,7 @@ class ReferenceAdjustmentsTests {
 					EulerOrder.YZX,
 					degs1.x,
 					degs1.y + FastMath.TWO_PI,
-					degs1.z
+					degs1.z,
 				)
 			}
 			if (degs2.y < -FloatMath.ANGLE_EPSILON_RAD) {
@@ -245,21 +245,17 @@ class ReferenceAdjustmentsTests {
 					EulerOrder.YZX,
 					degs2.x,
 					degs2.y + FastMath.TWO_PI,
-					degs2.z
+					degs2.z,
 				)
 			}
 			return FloatMath.equalsWithEpsilon(degs1.y, degs2.y)
 		}

-		override fun hashCode(): Int {
-			return q.hashCode()
-		}
+		override fun hashCode(): Int = q.hashCode()
 	}

 	data class QuatEqualFullWithEpsilon(val q: Quaternion) {
-		override fun hashCode(): Int {
-			return q.hashCode()
-		}
+		override fun hashCode(): Int = q.hashCode()

 		override fun equals(other: Any?): Boolean {
 			if (other == null) return false
@@ -275,7 +271,7 @@ class ReferenceAdjustmentsTests {
 					EulerOrder.YZX,
 					degs1.x,
 					degs1.y + FastMath.TWO_PI,
-					degs1.z
+					degs1.z,
 				)
 			}
 			if (degs2.y < -FloatMath.ANGLE_EPSILON_RAD) {
@@ -283,7 +279,7 @@ class ReferenceAdjustmentsTests {
 					EulerOrder.YZX,
 					degs2.x,
 					degs2.y + FastMath.TWO_PI,
-					degs2.z
+					degs2.z,
 				)
 			}
 			return (
@@ -305,8 +301,7 @@ class ReferenceAdjustmentsTests {
 		val anglesSet: Stream<AnglesSet>
 			get() = yaws.asSequence()
 				.zip(pitches.asSequence())
-				.zip(rolls.asSequence()) {
-						(yaw, pitch), roll ->
+				.zip(rolls.asSequence()) { (yaw, pitch), roll ->
 					AnglesSet(pitch, yaw, roll)
 				}.asStream()

@@ -317,8 +312,7 @@ class ReferenceAdjustmentsTests {
 			angles: EulerAngles,
 			anglesAdj: EulerAngles,
 			anglesDiff: EulerAngles,
-		): String {
-			return """Rot: $yaw/$pitch/$roll.
+		): String = """Rot: $yaw/$pitch/$roll.
 				Angles: ${prettyNumber(angles.x * FastMath.RAD_TO_DEG, 1)}/${prettyNumber(anglesAdj.x * FastMath.RAD_TO_DEG, 1)},
 				${prettyNumber(angles.y * FastMath.RAD_TO_DEG, 1)}/${prettyNumber(anglesAdj.y * FastMath.RAD_TO_DEG, 1)},
 				${prettyNumber(angles.z * FastMath.RAD_TO_DEG, 1)}/${prettyNumber(anglesAdj.z * FastMath.RAD_TO_DEG, 1)}.
@@ -326,16 +320,13 @@ class ReferenceAdjustmentsTests {
 				${prettyNumber(anglesDiff.y * FastMath.RAD_TO_DEG, 1)},
 				${prettyNumber(anglesDiff.z * FastMath.RAD_TO_DEG, 1)}
 				""".replace('\n', ' ')
-		}

-		fun q(pitch: Float, yaw: Float, roll: Float): Quaternion {
-			return EulerAngles(
-				EulerOrder.YZX,
-				pitch * FastMath.DEG_TO_RAD,
-				yaw * FastMath.DEG_TO_RAD,
-				roll * FastMath.DEG_TO_RAD
-			).toQuaternion()
-		}
+		fun q(pitch: Float, yaw: Float, roll: Float): Quaternion = EulerAngles(
+			EulerOrder.YZX,
+			pitch * FastMath.DEG_TO_RAD,
+			yaw * FastMath.DEG_TO_RAD,
+			roll * FastMath.DEG_TO_RAD,
+		).toQuaternion()

 		fun toDegs(q: Quaternion): String {
 			val (_, x, y, z) = q.toEulerAngles(EulerOrder.YZX)
--- a/server/core/src/test/java/io/github/axisangles/ktmath/QuaternionTest.kt
+++ b/server/core/src/test/java/io/github/axisangles/ktmath/QuaternionTest.kt
@@ -201,14 +201,13 @@ class QuaternionTest {
 		assertEquals(v2, v1)
 	}

+	@Suppress("ktlint")
 	@Test
 	fun toMatrix() {
-		/* ktlint-disable */
 		val m1 = Matrix3(
 			-1f,  0f,  0f,
 			 0f, -1f,  0f,
 			 0f,  0f,  1f)
-		/* ktlint-enable */
 		val m2 = Quaternion(0f, 0f, 0f, 2f).toMatrix()
 		assertEquals(m1, m2)
 	}
@@ -262,7 +261,7 @@ class QuaternionTest {
 			val squareSum = expected.lenSq() + actual.lenSq()
 			assertTrue(
 				len <= tolerance * tolerance * squareSum,
-				"Expected: $expected but got: $actual"
+				"Expected: $expected but got: $actual",
 			)
 		}
 	}
@@ -274,9 +273,7 @@ fun randInt(): Int {
 	return randSeed
 }

-fun randFloat(): Float {
-	return randInt().toFloat() / 2147483648
-}
+fun randFloat(): Float = randInt().toFloat() / 2147483648

 fun randGaussian(): Float {
 	var thing = 1f - randFloat()
@@ -287,22 +284,14 @@ fun randGaussian(): Float {
 	return sqrt(-2f * ln(thing)) * cos(PI.toFloat() * randFloat())
 }

-fun randMatrix(): Matrix3 {
-	return Matrix3(
-		randGaussian(), randGaussian(), randGaussian(),
-		randGaussian(), randGaussian(), randGaussian(),
-		randGaussian(), randGaussian(), randGaussian()
-	)
-}
+fun randMatrix(): Matrix3 = Matrix3(
+	randGaussian(), randGaussian(), randGaussian(),
+	randGaussian(), randGaussian(), randGaussian(),
+	randGaussian(), randGaussian(), randGaussian(),
+)

-fun randQuaternion(): Quaternion {
-	return Quaternion(randGaussian(), randGaussian(), randGaussian(), randGaussian())
-}
+fun randQuaternion(): Quaternion = Quaternion(randGaussian(), randGaussian(), randGaussian(), randGaussian())

-fun randRotMatrix(): Matrix3 {
-	return randQuaternion().toMatrix()
-}
+fun randRotMatrix(): Matrix3 = randQuaternion().toMatrix()

-fun randVector(): Vector3 {
-	return Vector3(randGaussian(), randGaussian(), randGaussian())
-}
+fun randVector(): Vector3 = Vector3(randGaussian(), randGaussian(), randGaussian())
--- a/server/desktop/src/main/java/dev/slimevr/desktop/Main.kt
+++ b/server/desktop/src/main/java/dev/slimevr/desktop/Main.kt
@@ -88,7 +88,7 @@ fun main(args: Array<String>) {
 				null,
 				"SlimeVR start-up error! A minimum of Java 17 is required.",
 				"SlimeVR: Java Runtime Mismatch",
-				JOptionPane.ERROR_MESSAGE
+				JOptionPane.ERROR_MESSAGE,
 			)
 		LogManager.closeLogger()
 		return
@@ -102,7 +102,7 @@ fun main(args: Array<String>) {
 		LogManager
 			.severe(
 				"SlimeVR start-up error! Required ports are busy. " +
-					"Make sure there is no other instance of SlimeVR Server running."
+					"Make sure there is no other instance of SlimeVR Server running.",
 			)
 		JOptionPane
 			.showMessageDialog(
@@ -110,7 +110,7 @@ fun main(args: Array<String>) {
 				"SlimeVR start-up error! Required ports are busy. " +
 					"Make sure there is no other instance of SlimeVR Server running.",
 				"SlimeVR: Ports are busy",
-				JOptionPane.ERROR_MESSAGE
+				JOptionPane.ERROR_MESSAGE,
 			)
 		LogManager.closeLogger()
 		return
@@ -122,13 +122,13 @@ fun main(args: Array<String>) {
 			::provideSteamVRBridge,
 			::provideFeederBridge,
 			{ _ -> DesktopSerialHandler() },
-			configDir
+			configDir,
 		)
 		vrServer.start()
 		
 		// Start service for USB HID trackers
 		TrackersHID(
-			"Sensors HID service"
+			"Sensors HID service",
 		) { tracker: Tracker -> vrServer.registerTracker(tracker) }

 		Keybinding(vrServer)
@@ -162,7 +162,7 @@ fun provideSteamVRBridge(
 			"steamvr",
 			"SteamVR Driver Bridge",
 			"""\\.\pipe\SlimeVRDriver""",
-			computedTrackers
+			computedTrackers,
 		)
 	} else if (OperatingSystem.currentPlatform == OperatingSystem.LINUX) {
 		var linuxBridge: SteamVRBridge? = null
@@ -173,12 +173,12 @@ fun provideSteamVRBridge(
 				"SteamVR Driver Bridge",
 				Paths.get(OperatingSystem.socketDirectory, "SlimeVRDriver")
 					.toString(),
-				computedTrackers
+				computedTrackers,
 			)
 		} catch (ex: Exception) {
 			LogManager.severe(
 				"Failed to initiate Unix socket, disabling driver bridge...",
-				ex
+				ex,
 			)
 		}
 		driverBridge = linuxBridge
@@ -191,7 +191,7 @@ fun provideSteamVRBridge(
 					} catch (e: Exception) {
 						throw RuntimeException(e)
 					}
-				}
+				},
 			)
 		}
 	} else {
@@ -213,9 +213,10 @@ fun provideFeederBridge(
 				"steamvr_feeder",
 				"SteamVR Feeder Bridge",
 				"""\\.\pipe\SlimeVRInput""",
-				FastList()
+				FastList(),
 			)
 		}
+
 		OperatingSystem.LINUX -> {
 			feederBridge = UnixSocketBridge(
 				server,
@@ -223,9 +224,10 @@ fun provideFeederBridge(
 				"SteamVR Feeder Bridge",
 				Paths.get(OperatingSystem.socketDirectory, "SlimeVRInput")
 					.toString(),
-				FastList()
+				FastList(),
 			)
 		}
+
 		else -> {
 			feederBridge = null
 		}
--- a/server/desktop/src/main/java/dev/slimevr/desktop/serial/DesktopSerialHandler.kt
+++ b/server/desktop/src/main/java/dev/slimevr/desktop/serial/DesktopSerialHandler.kt
@@ -31,7 +31,9 @@ class SerialPortWrapper(val port: SerialPort) : SlimeSerialPort() {
 		get() = port.productID
 }

-class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
+class DesktopSerialHandler :
+	SerialHandler(),
+	SerialPortMessageListener {
 	private val listeners: MutableList<SerialListener> = CopyOnWriteArrayList()
 	private val getDevicesTimer = Timer("GetDevicesTimer")
 	private var currentPort: SerialPort? = null
@@ -52,13 +54,13 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 				} catch (t: Throwable) {
 					LogManager.severe(
 						"[SerialHandler] Error while watching for new devices, cancelling the \"getDevicesTimer\".",
-						t
+						t,
 					)
 					getDevicesTimer.cancel()
 				}
 			},
 			0,
-			3000
+			3000,
 		)
 	}

@@ -92,7 +94,7 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 		}
 		if (newPort == null) {
 			LogManager.info(
-				"[SerialHandler] No serial ports found to connect to (${ports.size}) total ports"
+				"[SerialHandler] No serial ports found to connect to (${ports.size}) total ports",
 			)
 			return false
 		}
@@ -100,7 +102,7 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 			if (SerialPortWrapper(newPort) != currentPort?.let { SerialPortWrapper(it) }) {
 				LogManager.info(
 					"[SerialHandler] Closing current serial port " +
-						currentPort!!.descriptivePortName
+						currentPort!!.descriptivePortName,
 				)
 				currentPort!!.removeDataListener()
 				currentPort!!.closePort()
@@ -113,14 +115,14 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 		currentPort = newPort
 		LogManager.info(
 			"[SerialHandler] Trying to connect to new serial port " +
-				currentPort!!.descriptivePortName
+				currentPort!!.descriptivePortName,
 		)
 		currentPort?.setBaudRate(115200)
 		currentPort?.clearRTS()
 		currentPort?.clearDTR()
 		if (currentPort?.openPort(1000) == false) {
 			LogManager.warning(
-				"[SerialHandler] Can't open serial port ${currentPort?.descriptivePortName}, last error: ${currentPort?.lastErrorCode}"
+				"[SerialHandler] Can't open serial port ${currentPort?.descriptivePortName}, last error: ${currentPort?.lastErrorCode}",

 			)
 			currentPort = null
@@ -154,13 +156,13 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 			currentPort?.closePort()
 			listeners.forEach { it.onSerialDisconnected() }
 			LogManager.info(
-				"[SerialHandler] Port ${currentPort?.descriptivePortName} closed okay"
+				"[SerialHandler] Port ${currentPort?.descriptivePortName} closed okay",
 			)
 			currentPort = null
 		} catch (e: Exception) {
 			LogManager.warning(
 				"[SerialHandler] Error closing port ${currentPort?.descriptivePortName}",
-				e
+				e,
 			)
 		}
 	}
@@ -198,12 +200,10 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 		listeners.forEach { it.onSerialLog(str) }
 	}

-	override fun getListeningEvents(): Int {
-		return (
-			SerialPort.LISTENING_EVENT_PORT_DISCONNECTED
-				or SerialPort.LISTENING_EVENT_DATA_RECEIVED
-			)
-	}
+	override fun getListeningEvents(): Int = (
+		SerialPort.LISTENING_EVENT_PORT_DISCONNECTED
+			or SerialPort.LISTENING_EVENT_DATA_RECEIVED
+		)

 	override fun serialEvent(event: SerialPortEvent) {
 		when (event.eventType) {
@@ -212,6 +212,7 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 				val s = StandardCharsets.UTF_8.decode(ByteBuffer.wrap(newData)).toString()
 				addLog(s)
 			}
+
 			SerialPort.LISTENING_EVENT_PORT_DISCONNECTED -> {
 				closeSerial()
 			}
@@ -222,13 +223,9 @@ class DesktopSerialHandler : SerialHandler(), SerialPortMessageListener {
 	override val isConnected: Boolean
 		get() = currentPort?.isOpen ?: false

-	override fun getMessageDelimiter(): ByteArray {
-		return byteArrayOf(0x0A.toByte())
-	}
+	override fun getMessageDelimiter(): ByteArray = byteArrayOf(0x0A.toByte())

-	override fun delimiterIndicatesEndOfMessage(): Boolean {
-		return true
-	}
+	override fun delimiterIndicatesEndOfMessage(): Boolean = true

 	override val knownPorts: Stream<SerialPortWrapper>
 		get() = SerialPort.getCommPorts()
--- a/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/HIDDevice.kt
+++ b/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/HIDDevice.kt
@@ -4,7 +4,5 @@ import dev.slimevr.tracking.trackers.Device
 import dev.slimevr.tracking.trackers.Tracker

 class HIDDevice(val hidId: Int) : Device() {
-	fun getTracker(id: Int): Tracker? {
-		return trackers[id]
-	}
+	fun getTracker(id: Int): Tracker? = trackers[id]
 }
--- a/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
+++ b/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
@@ -22,7 +22,9 @@ import kotlin.experimental.and
 /**
 * Receives trackers data by UDP using extended owoTrack protocol.
 */
-class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>) : Thread(name), HidServicesListener {
+class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>) :
+	Thread(name),
+	HidServicesListener {
 	private val devices: MutableList<HIDDevice> = mutableListOf()
 	private val devicesBySerial: MutableMap<String, MutableList<Int>> = HashMap()
 	private val devicesByHID: MutableMap<HidDevice, MutableList<Int>> = HashMap()
@@ -107,7 +109,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 				allowFiltering = true,
 				needsReset = true,
 				needsMounting = true,
-				usesTimeout = false
+				usesTimeout = false,
 			)
 			// usesTimeout false because HID trackers aren't "Disconnected" unless receiver is physically removed probably
 			// TODO: Could tracker maybe use "Timed out" status without marking as disconnecting?
@@ -116,7 +118,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 			imuTracker.status = sensorStatus
 			LogManager
 				.info(
-					"[TrackerServer] Added sensor $trackerId for ${device.name}, type $sensorType"
+					"[TrackerServer] Added sensor $trackerId for ${device.name}, type $sensorType",
 				)
 		}
 	}
@@ -227,9 +229,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 	override fun run() { // Doesn't seem to run
 	}

-	fun getDevices(): List<Device> {
-		return devices
-	}
+	fun getDevices(): List<Device> = devices

 	override fun hidDeviceAttached(event: HidServicesEvent) {
 		checkConfigureDevice(event.hidDevice)
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -20,6 +20,7 @@ pluginManagement {
 	val spotlessVersion: String by settings
 	val shadowJarVersion: String by settings
 	val buildconfigVersion: String by settings
+	val grgitVersion: String by settings
 	plugins {
 		kotlin("plugin.serialization") version kotlinVersion
 		kotlin("jvm") version kotlinVersion
@@ -27,6 +28,7 @@ pluginManagement {
 		id("com.diffplug.spotless") version spotlessVersion
 		id("com.github.johnrengelman.shadow") version shadowJarVersion
 		id("com.github.gmazzo.buildconfig") version buildconfigVersion
+		id("org.ajoberstar.grgit") version grgitVersion
 	}
 }