Computed head reset (#1057)

gui/public/i18n/en/translation.ftl

@@ -355,6 +355,9 @@ settings-general-fk_settings-leg_fk-reset_mounting_feet = Feet Mounting Reset
 settings-general-fk_settings-arm_fk = Arm tracking
 settings-general-fk_settings-arm_fk-description = Force arms to be tracked from the headset (HMD) even if positional hand data is available.
 settings-general-fk_settings-arm_fk-force_arms = Force arms from HMD
+settings-general-fk_settings-reset_settings = Reset settings
+settings-general-fk_settings-reset_settings-reset_hmd_pitch-description = Reset the HMD's pitch (vertical rotation) upon doing a full reset. Useful if wearing an HMD on the forehead for VTubing or mocap. Do not enable for VR.
+settings-general-fk_settings-reset_settings-reset_hmd_pitch = Reset HMD pitch
 settings-general-fk_settings-arm_fk-reset_mode-description = Change which arm pose is expected for mounting reset.
 settings-general-fk_settings-arm_fk-back = Back
 settings-general-fk_settings-arm_fk-back-description = The default mode, with the upper arms going back and lower arms going forward.

gui/src/components/settings/pages/GeneralSettings.tsx

@@ -96,6 +96,7 @@ interface SettingsForm {
     armsMountingResetMode: number;
     yawResetSmoothTime: number;
     saveMountingReset: boolean;
+    resetHmdPitch: boolean;
   };
 }
 
@@ -158,6 +159,7 @@ const defaultValues: SettingsForm = {
     armsMountingResetMode: 0,
     yawResetSmoothTime: 0.0,
     saveMountingReset: false,
+    resetHmdPitch: false,
   },
 };
 
@@ -294,6 +296,7 @@ export function GeneralSettings() {
         values.resetsSettings.yawResetSmoothTime;
       resetsSettings.saveMountingReset =
         values.resetsSettings.saveMountingReset;
+      resetsSettings.resetHmdPitch = values.resetsSettings.resetHmdPitch;
       settings.resetsSettings = resetsSettings;
     }
 
@@ -859,24 +862,6 @@ export function GeneralSettings() {
                 )}
               />
             </div>
-            <div className="flex flex-col pt-2 pb-3">
-              <Typography color="secondary">
-                {l10n.getString(
-                  'settings-general-fk_settings-leg_fk-reset_mounting_feet-description'
-                )}
-              </Typography>
-            </div>
-            <div className="grid sm:grid-cols-1 gap-3 pb-3">
-              <CheckBox
-                variant="toggle"
-                outlined
-                control={control}
-                name="resetsSettings.resetMountingFeet"
-                label={l10n.getString(
-                  'settings-general-fk_settings-leg_fk-reset_mounting_feet'
-                )}
-              />
-            </div>
 
             <div className="flex flex-col pt-2 pb-3">
               <Typography bold>
@@ -900,12 +885,53 @@ export function GeneralSettings() {
               />
             </div>
 
+            <div className="flex flex-col pt-2">
+              <Typography bold>
+                {l10n.getString('settings-general-fk_settings-reset_settings')}
+              </Typography>
+            </div>
+            <div className="flex flex-col pt-2 pb-3">
+              <Typography color="secondary">
+                {l10n.getString(
+                  'settings-general-fk_settings-reset_settings-reset_hmd_pitch-description'
+                )}
+              </Typography>
+            </div>
+            <div className="grid sm:grid-cols-1 gap-3 pb-3">
+              <CheckBox
+                variant="toggle"
+                outlined
+                control={control}
+                name="resetsSettings.resetHmdPitch"
+                label={l10n.getString(
+                  'settings-general-fk_settings-reset_settings-reset_hmd_pitch'
+                )}
+              />
+            </div>
+            <div className="flex flex-col pt-2 pb-3">
+              <Typography color="secondary">
+                {l10n.getString(
+                  'settings-general-fk_settings-leg_fk-reset_mounting_feet-description'
+                )}
+              </Typography>
+            </div>
+            <div className="grid sm:grid-cols-1 gap-3 pb-3">
+              <CheckBox
+                variant="toggle"
+                outlined
+                control={control}
+                name="resetsSettings.resetMountingFeet"
+                label={l10n.getString(
+                  'settings-general-fk_settings-leg_fk-reset_mounting_feet'
+                )}
+              />
+            </div>
             <Typography color="secondary">
               {l10n.getString(
                 'settings-general-fk_settings-arm_fk-reset_mode-description'
               )}
             </Typography>
-            <div className="grid md:grid-cols-2 flex-col gap-3 pt-2">
+            <div className="grid md:grid-cols-2 flex-col gap-3 pt-2 pb-3">
               <Radio
                 control={control}
                 name="resetsSettings.armsMountingResetMode"
@@ -951,6 +977,7 @@ export function GeneralSettings() {
                 value={'3'}
               ></Radio>
             </div>
+
             {config?.debug && (
               <>
                 <div className="flex flex-col pt-2 pb-3">

server/core/src/main/java/dev/slimevr/VRServer.kt

@@ -102,6 +102,8 @@ class VRServer @JvmOverloads constructor(
 
 	init {
 		// UwU
+		instance = this
+
 		configManager = ConfigManager(configPath)
 		configManager.loadConfig()
 		deviceManager = DeviceManager(this)
@@ -161,7 +163,6 @@ class VRServer @JvmOverloads constructor(
 		for (tracker in computedTrackers) {
 			registerTracker(tracker)
 		}
-		instance = this
 	}
 
 	fun hasBridge(bridgeClass: Class<out Bridge?>): Boolean {

server/core/src/main/java/dev/slimevr/config/ResetsConfig.kt

@@ -43,11 +43,12 @@ class ResetsConfig {
 	// Save automatic mounting reset calibration
 	var saveMountingReset = false
 
+	// Reset the HMD's pitch upon full reset
+	var resetHmdPitch = false
+
 	fun updateTrackersResetsSettings() {
 		for (t in VRServer.instance.allTrackers) {
-			if (t.needsReset) {
-				t.resetsHandler.readResetConfig(this)
-			}
+			t.resetsHandler.readResetConfig(this)
 		}
 	}
 }

server/core/src/main/java/dev/slimevr/config/VRConfig.kt

@@ -101,8 +101,8 @@ class VRConfig {
 			val config = getTracker(tracker)
 			tracker.readConfig(config)
 			if (tracker.isImu()) tracker.resetsHandler.readDriftCompensationConfig(driftCompensation)
+			tracker.resetsHandler.readResetConfig(resetsConfig)
 			if (tracker.needsReset) {
-				tracker.resetsHandler.readResetConfig(resetsConfig)
 				tracker.saveMountingResetOrientation(config)
 			}
 			if (tracker.allowFiltering) {

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.java

@@ -189,7 +189,8 @@ public class RPCSettingsBuilder {
 				humanPoseManager.getToggle(SkeletonConfigToggles.VIVE_EMULATION),
 				humanPoseManager.getToggle(SkeletonConfigToggles.TOE_SNAP),
 				humanPoseManager.getToggle(SkeletonConfigToggles.FOOT_PLANT),
-				humanPoseManager.getToggle(SkeletonConfigToggles.SELF_LOCALIZATION)
+				humanPoseManager.getToggle(SkeletonConfigToggles.SELF_LOCALIZATION),
+				false
 			);
 		int ratiosOffset = ModelRatios
 			.createModelRatios(
@@ -342,7 +343,8 @@ public class RPCSettingsBuilder {
 				resetsConfig.getResetMountingFeet(),
 				resetsConfig.getMode().getId(),
 				resetsConfig.getYawResetSmoothTime(),
-				resetsConfig.getSaveMountingReset()
+				resetsConfig.getSaveMountingReset(),
+				resetsConfig.getResetHmdPitch()
 			);
 	}
 

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.kt

@@ -337,6 +337,7 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
 			resetsConfig.resetMountingFeet = req.resetsSettings().resetMountingFeet()
 			resetsConfig.saveMountingReset = req.resetsSettings().saveMountingReset()
 			resetsConfig.yawResetSmoothTime = req.resetsSettings().yawResetSmoothTime()
+			resetsConfig.resetHmdPitch = req.resetsSettings().resetHmdPitch()
 			resetsConfig.updateTrackersResetsSettings()
 		}
 

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

@@ -340,16 +340,6 @@ class HumanPoseManager(val server: VRServer?) {
 	@ThreadSafe
 	fun getComputedTracker(trackerRole: TrackerRole): Tracker = skeleton.getComputedTracker(trackerRole)
 
-	/**
-	 * Returns all trackers if VRServer is non-null. Else, returns the
-	 * skeleton's assigned trackers.
-	 *
-	 * @return a list of trackers to use for reset.
-	 */
-	val trackersToReset: List<Tracker?>
-		get() =
-			server?.allTrackers ?: skeleton.localTrackers
-
 	/**
 	 * @return the head bone, which is the root of the skeleton
 	 */

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

@@ -784,8 +784,8 @@ class HumanSkeleton(
 	}
 
 	/**
-	 * Rotates the first Quaternion to match its yaw and roll to the rotation of
-	 * the average of the second and third quaternions.
+	 * Rotates the third Quaternion to match its yaw and roll to the rotation of
+	 * the average of the first and second quaternions.
 	 *
 	 * @param leftKnee the first Quaternion
 	 * @param rightKnee the second Quaternion
@@ -1033,7 +1033,8 @@ class HumanSkeleton(
 	 */
 	val isTrackingRightArmFromController: Boolean
 		get() = rightHandTracker != null && rightHandTracker!!.hasPosition && !forceArmsFromHMD
-	val localTrackers: List<Tracker?>
+
+	val trackersToReset: List<Tracker?>
 		get() = listOf(
 			neckTracker,
 			chestTracker,
@@ -1056,19 +1057,16 @@ class HumanSkeleton(
 		)
 
 	fun resetTrackersFull(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
-
-		// Resets all axis of the trackers with the HMD as reference.
 		var referenceRotation = IDENTITY
 		headTracker?.let {
-			if (it.needsReset) {
-				it.resetsHandler.resetFull(referenceRotation)
-			} else {
-				referenceRotation = it.getRotation()
-			}
+			// Always reset the head (ifs in resetsHandler)
+			it.resetsHandler.resetFull(referenceRotation)
+			referenceRotation = it.getRotation()
 		}
+		// Resets all axes of the trackers with the HMD as reference.
 		for (tracker in trackersToReset) {
-			if (tracker != null && tracker.needsReset) {
+			// Only reset if tracker needsReset
+			if (tracker != null && (tracker.needsReset || tracker.isHmd)) {
 				tracker.resetsHandler.resetFull(referenceRotation)
 			}
 		}
@@ -1085,18 +1083,17 @@ class HumanSkeleton(
 
 	@VRServerThread
 	fun resetTrackersYaw(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
-
 		// Resets the yaw of the trackers with the head as reference.
 		var referenceRotation = IDENTITY
 		headTracker?.let {
-			if (it.needsReset) {
+			// Only reset if head needsReset and isn't computed
+			if (it.needsReset && !it.isComputed) {
 				it.resetsHandler.resetYaw(referenceRotation)
-			} else {
-				referenceRotation = it.getRotation()
 			}
+			referenceRotation = it.getRotation()
 		}
 		for (tracker in trackersToReset) {
+			// Only reset if tracker needsReset
 			if (tracker != null && tracker.needsReset) {
 				tracker.resetsHandler.resetYaw(referenceRotation)
 			}
@@ -1107,19 +1104,17 @@ class HumanSkeleton(
 
 	@VRServerThread
 	fun resetTrackersMounting(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
-
-		// Resets the mounting orientation of the trackers with the HMD as
-		// reference.
+		// Resets the mounting orientation of the trackers with the HMD as reference.
 		var referenceRotation = IDENTITY
 		headTracker?.let {
-			if (it.needsMounting) {
+			// Only reset if head needsMounting or is computed but not HMD
+			if (it.needsMounting || (it.isComputed && !it.isHmd)) {
 				it.resetsHandler.resetMounting(referenceRotation)
-			} else {
-				referenceRotation = it.getRotation()
 			}
+			referenceRotation = it.getRotation()
 		}
 		for (tracker in trackersToReset) {
+			// Only reset if tracker needsMounting
 			if (tracker != null && tracker.needsMounting) {
 				tracker.resetsHandler.resetMounting(referenceRotation)
 			}
@@ -1131,7 +1126,6 @@ class HumanSkeleton(
 
 	@VRServerThread
 	fun clearTrackersMounting(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
 		headTracker?.let {
 			if (it.needsMounting) it.resetsHandler.clearMounting()
 		}

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

@@ -323,7 +323,7 @@ class Tracker @JvmOverloads constructor(
 			_rotation
 		}
 
-		if (needsReset && !(isComputed && trackerPosition == TrackerPosition.HEAD)) {
+		if (needsReset || (isComputed && !isInternal)) {
 			// Adjust to reset, mounting and drift compensation
 			rot = resetsHandler.getReferenceAdjustedDriftRotationFrom(rot)
 		}
@@ -354,7 +354,7 @@ class Tracker @JvmOverloads constructor(
 			_rotation
 		}
 
-		if (needsReset && trackerPosition != TrackerPosition.HEAD) {
+		if (needsReset || (isComputed && trackerPosition == TrackerPosition.HEAD)) {
 			// Adjust to reset and mounting
 			rot = resetsHandler.getIdentityAdjustedDriftRotationFrom(rot)
 		}

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

@@ -43,6 +43,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	private var yawResetSmoothTime = 0.0f
 	private lateinit var fpsTimer: NanoTimer
 	var saveMountingReset = false
+	var resetHmdPitch = false
 	var allowDriftCompensation = false
 	var lastResetQuaternion: Quaternion? = null
 
@@ -123,6 +124,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			fpsTimer = VRServer.instance.fpsTimer
 		}
 		saveMountingReset = config.saveMountingReset
+		resetHmdPitch = config.resetHmdPitch
 	}
 
 	fun trySetMountingReset(quat: Quaternion) {
@@ -155,7 +157,9 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 */
 	private fun adjustToReference(rotation: Quaternion): Quaternion {
 		var rot = rotation
-		rot *= mountingOrientation
+		if (!tracker.isHmd || tracker.trackerPosition != TrackerPosition.HEAD) {
+			rot *= mountingOrientation
+		}
 		rot = gyroFix * rot
 		rot *= attachmentFix
 		rot = mountRotFix.inv() * (rot * mountRotFix)
@@ -216,29 +220,57 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			Quaternion.IDENTITY
 		}
 
+		// Old rot for drift compensation
 		val oldRot = adjustToReference(tracker.getRawRotation())
 		lastResetQuaternion = oldRot
 
+		// Adjust raw rotation to mountingOrientation
 		val mountingAdjustedRotation = tracker.getRawRotation() * mountingOrientation
 
-		if (tracker.needsMounting) {
-			gyroFix = fixGyroscope(mountingAdjustedRotation * tposeDownFix)
-		} else {
-			// Set mounting to the HMD's yaw so that the non-mounting-adjusted
-			// tracker goes forward.
+		// Gyrofix
+		if (tracker.needsMounting || (tracker.trackerPosition == TrackerPosition.HEAD && !tracker.isHmd)) {
+			gyroFix = if (tracker.isComputed) {
+				fixGyroscope(tracker.getRawRotation())
+			} else {
+				fixGyroscope(mountingAdjustedRotation * tposeDownFix)
+			}
+		}
+
+		// Mounting for computed trackers
+		if (tracker.isComputed && tracker.trackerPosition != TrackerPosition.HEAD) {
+			// Set mounting to the reference's yaw so that a computed
+			// tracker goes forward according to the head tracker.
 			mountRotFix = getYawQuaternion(reference)
 		}
-		attachmentFix = fixAttachment(mountingAdjustedRotation)
 
-		// Rotate attachmentFix by 180 degrees as a workaround for tpose (down)
+		// Attachment fix
+		attachmentFix = if (tracker.trackerPosition == TrackerPosition.HEAD && tracker.isHmd) {
+			if (resetHmdPitch) {
+				// Reset the HMD's pitch if it's assigned to head and resetHmdPitch is true
+				// Get rotation without yaw (make sure to use the raw rotation directly!)
+				val rotBuf = getYawQuaternion(tracker.getRawRotation()).inv() * tracker.getRawRotation()
+				// Isolate pitch
+				Quaternion(rotBuf.w, -rotBuf.x, 0f, 0f).unit()
+			} else {
+				// Don't reset the HMD at all
+				Quaternion.IDENTITY
+			}
+		} else {
+			fixAttachment(mountingAdjustedRotation)
+		}
+
+		// Rotate attachmentFix by 180 degrees as a workaround for t-pose (down)
 		if (tposeDownFix != Quaternion.IDENTITY && tracker.needsMounting) {
 			attachmentFix *= HalfHorizontal
 		}
 
 		makeIdentityAdjustmentQuatsFull()
 
-		yawFix = fixYaw(mountingAdjustedRotation, reference)
-		yawResetSmoothTimeRemain = 0.0f
+		// (don't adjust yaw if head and computed)
+		if (tracker.trackerPosition != TrackerPosition.HEAD || tracker.isComputed) {
+			yawFix = fixYaw(mountingAdjustedRotation, reference)
+			yawResetSmoothTimeRemain = 0.0f
+		}
 
 		calculateDrift(oldRot)
 
@@ -255,6 +287,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * position should be corrected in the source.
 	 */
 	fun resetYaw(reference: Quaternion) {
+		// Old rot for drift compensation
 		val oldRot = adjustToReference(tracker.getRawRotation())
 		lastResetQuaternion = oldRot
 
@@ -286,9 +319,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * and stores it in mountRotFix, and adjusts yawFix
 	 */
 	fun resetMounting(reference: Quaternion) {
-		if (!resetMountingFeet && isFootTracker()) {
-			return
-		}
+		if (!resetMountingFeet && isFootTracker()) return
 
 		// Get the current calibrated rotation
 		var rotBuf = adjustToDrift(tracker.getRawRotation() * mountingOrientation)
@@ -320,10 +351,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		}
 
 		// Adjust for forward/back arms and thighs
-		val isLowerArmBack =
-			armsResetMode == ArmsResetModes.BACK && (isLeftLowerArmTracker() || isRightLowerArmTracker())
-		val isArmForward =
-			armsResetMode == ArmsResetModes.FORWARD && (isLeftArmTracker() || isRightArmTracker())
+		val isLowerArmBack = armsResetMode == ArmsResetModes.BACK && (isLeftLowerArmTracker() || isRightLowerArmTracker())
+		val isArmForward = armsResetMode == ArmsResetModes.FORWARD && (isLeftArmTracker() || isRightArmTracker())
 		if (!isThighTracker() && !isArmForward && !isLowerArmBack) {
 			// Tracker goes back
 			yawAngle -= FastMath.PI

server/core/src/test/java/dev/slimevr/unit/MountingResetTests.kt

@@ -43,7 +43,6 @@ class MountingResetTests {
 			"test",
 			null,
 			hasRotation = true,
-			isInternal = true,
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 			needsMounting = true,
@@ -128,7 +127,6 @@ class MountingResetTests {
 			"test",
 			null,
 			hasRotation = true,
-			isInternal = true,
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 			needsMounting = true,

server/core/src/test/java/dev/slimevr/unit/ReferenceAdjustmentsTests.kt

@@ -92,7 +92,6 @@ class ReferenceAdjustmentsTests {
 			"test",
 			null,
 			hasRotation = true,
-			isInternal = true,
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 		)
@@ -125,7 +124,6 @@ class ReferenceAdjustmentsTests {
 			"test",
 			null,
 			hasRotation = true,
-			isInternal = true,
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 		)
@@ -154,7 +152,6 @@ class ReferenceAdjustmentsTests {
 			"test",
 			null,
 			hasRotation = true,
-			isInternal = true,
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 		)

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

@@ -153,6 +153,7 @@ abstract class SteamVRBridge(
 				"OpenVR", // TODO : We need the manufacturer
 			)
 
+		// Display name, needsReset and isHmd
 		val displayName: String
 		val (needsReset, isHmd) = if (trackerAdded.trackerId == 0) {
 			displayName = if (trackerAdded.trackerName == "HMD") {
@@ -160,19 +161,27 @@ abstract class SteamVRBridge(
 			} else {
 				"Feeder App HMD"
 			}
-			// TODO support needsReset = true for VTubing (GUI toggle?)
 			false to true
 		} else {
 			displayName = trackerAdded.trackerName
 			true to false
 		}
 
+		// trackerPosition
+		val role = getById(trackerAdded.trackerRole)
+		val trackerPosition = if (role != null) {
+			getByTrackerRole(role)
+		} else {
+			null
+		}
+
+		// Make the tracker
 		val tracker = Tracker(
 			device,
 			getNextLocalTrackerId(),
 			trackerAdded.trackerSerial,
 			displayName,
-			null,
+			trackerPosition,
 			trackerAdded.trackerId,
 			hasPosition = true,
 			hasRotation = true,
@@ -184,10 +193,6 @@ abstract class SteamVRBridge(
 
 		device.trackers[0] = tracker
 		instance.deviceManager.addDevice(device)
-		val role = getById(trackerAdded.trackerRole)
-		if (role != null) {
-			tracker.trackerPosition = getByTrackerRole(role)
-		}
 		return tracker
 	}