Merge branch 'main' into tpose

gui/public/i18n/en-x-owo/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = skawting coww
 settings-general-fk_settings-arm_fk = awm fk
 settings-general-fk_settings-arm_fk-description = chawnge teh way teh awms awe twacked.
 settings-general-fk_settings-arm_fk-force_arms = fowce awms fwom hmd
+settings-general-fk_settings-arm_fk-i_pose = uwse i powse insted of t powse
 settings-general-fk_settings-skeleton_settings = skeweton sewttings
 settings-general-fk_settings-skeleton_settings-description = toggwe skeweton sewttings on owow off. is wowcommended to weawve these on~
 settings-general-fk_settings-skeleton_settings-extended_spine = ewtended spine

gui/public/i18n/en/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Skating corre
 settings-general-fk_settings-arm_fk = Arm tracking
 settings-general-fk_settings-arm_fk-description = Change the way the arms are tracked.
 settings-general-fk_settings-arm_fk-force_arms = Force arms from HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Skeleton settings
 settings-general-fk_settings-skeleton_settings-description = Toggle skeleton settings on or off. It is recommended to leave these on.
 settings-general-fk_settings-skeleton_settings-extended_spine = Extended spine

gui/public/i18n/es-419/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Agresividad d
 settings-general-fk_settings-arm_fk = Trackeo de brazos
 settings-general-fk_settings-arm_fk-description = Cambia cómo el movimiento de los brazos es detectado.
 settings-general-fk_settings-arm_fk-force_arms = Forzar brazos desde el HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Ajustes de esqueleto
 settings-general-fk_settings-skeleton_settings-description = Habilita o deshabilita los ajustes de esqueleto. Es recomendado dejar estos ajustes habilitados.
 settings-general-fk_settings-skeleton_settings-extended_spine = Extención de columna

gui/public/i18n/et/translation.ftl

@@ -256,6 +256,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Libisemise ko
 settings-general-fk_settings-arm_fk = Käe jälgimine
 settings-general-fk_settings-arm_fk-description = Muuda viisi kuidas käsi jälgitakse.
 settings-general-fk_settings-arm_fk-force_arms = Sunni käed HMD-st
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Skeletti seaded
 settings-general-fk_settings-skeleton_settings-description = Lülita skeletti seaded sisse või välja. Soovitatud on see sisse jätta.
 settings-general-fk_settings-skeleton_settings-extended_spine = Selgroo laiendamine

gui/public/i18n/fr/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Force de la c
 settings-general-fk_settings-arm_fk = Capture des bras
 settings-general-fk_settings-arm_fk-description = Changez la façon dont les bras sont captés.
 settings-general-fk_settings-arm_fk-force_arms = Forcer les bras en provenance du casque VR
+settings-general-fk_settings-arm_fk-i_pose = Utiliser la i-pose au lieu de la t-pose
 settings-general-fk_settings-skeleton_settings = Paramètres du squelette
 settings-general-fk_settings-skeleton_settings-description = Activez ou désactivez des paramètres avancés de capture.
 settings-general-fk_settings-skeleton_settings-extended_spine = Colone vertébrale avancée

gui/public/i18n/it/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Forza fattore
 settings-general-fk_settings-arm_fk = FK Braccia
 settings-general-fk_settings-arm_fk-description = Cambia la modalità di tracciamento delle braccia.
 settings-general-fk_settings-arm_fk-force_arms = Forza il calcolo della posizione delle braccia a utilizzare il HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Impostazioni scheletro
 settings-general-fk_settings-skeleton_settings-description = Abilita o disabilita le impostazioni dello scheletro. É raccomandato lasciare queste impostazioni attive.
 settings-general-fk_settings-skeleton_settings-extended_spine = Estensione colonna vertebrale

gui/public/i18n/ja/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = スケーテ
 settings-general-fk_settings-arm_fk = アームトラッキング
 settings-general-fk_settings-arm_fk-description = 腕の追従方法を変更する。
 settings-general-fk_settings-arm_fk-force_arms = Force arms from HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = スケルトン設定
 settings-general-fk_settings-skeleton_settings-description = スケルトン設定のオン/オフを切り替えます。これらはオンのままにしておくことをお勧めします。
 settings-general-fk_settings-skeleton_settings-extended_spine = Extended spine

gui/public/i18n/ko/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = 스케이팅
 settings-general-fk_settings-arm_fk = 팔 운동학
 settings-general-fk_settings-arm_fk-description = 팔이 추적되는 방식을 변경할 수 있어요.
 settings-general-fk_settings-arm_fk-force_arms = 팔을 HMD에서만 받아오기
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = 골격 설정
 settings-general-fk_settings-skeleton_settings-description = 골격 설정을 설정하거나 해제해요. 이것들은 켜두는 게 좋아요.
 settings-general-fk_settings-skeleton_settings-extended_spine = 척추 확장

gui/public/i18n/nl/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Skating-corre
 settings-general-fk_settings-arm_fk = Arm tracking
 settings-general-fk_settings-arm_fk-description = Verander de manier waarop de armen worden getrackt.
 settings-general-fk_settings-arm_fk-force_arms = Dwing armen vanuit HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Skeleton instellingen
 settings-general-fk_settings-skeleton_settings-description = Schakel skeleton instellingen in of uit. Het is aanbevolen om deze aan te laten.
 settings-general-fk_settings-skeleton_settings-extended_spine = Uitgebreide rug

gui/public/i18n/pl/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Skating corre
 settings-general-fk_settings-arm_fk = Arm tracking
 settings-general-fk_settings-arm_fk-description = Change the way the arms are tracked.
 settings-general-fk_settings-arm_fk-force_arms = Force arms from HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Skeleton settings
 settings-general-fk_settings-skeleton_settings-description = Toggle skeleton settings on or off. It is recommended to leave these on.
 settings-general-fk_settings-skeleton_settings-extended_spine = Extended spine

gui/public/i18n/pt-BR/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Força da cor
 settings-general-fk_settings-arm_fk = Opções do Braço
 settings-general-fk_settings-arm_fk-description = Muda o jeito que os braços são rastreados.
 settings-general-fk_settings-arm_fk-force_arms = Forçar braços do HMD
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Opções do esqueleto
 settings-general-fk_settings-skeleton_settings-description = Ligar ou desligar opções do esqueleto. É recomendado deixar eles ligados.
 settings-general-fk_settings-skeleton_settings-extended_spine = Estender coluna

gui/public/i18n/vi/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = Mức độ s
 settings-general-fk_settings-arm_fk = Track cánh tay
 settings-general-fk_settings-arm_fk-description = Thay đổi cách cánh tay được track
 settings-general-fk_settings-arm_fk-force_arms = Lấy dữ liệu cánh tay từ kính
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = Cài đặt khung cơ thể
 settings-general-fk_settings-skeleton_settings-description = Bật hoặc tắt các cài đặt về khung cơ thể. Các lựa chọn này nên được giữ bật
 settings-general-fk_settings-skeleton_settings-extended_spine = Xương sống kéo dài

gui/public/i18n/zh-Hans/translation.ftl

@@ -275,6 +275,7 @@ settings-general-fk_settings-leg_tweak-skating_correction-amount = 脚滑矫正
 settings-general-fk_settings-arm_fk = 手臂 FK
 settings-general-fk_settings-arm_fk-description = 更改手臂的追踪方式。
 settings-general-fk_settings-arm_fk-force_arms = 强制从头显获得数据
+settings-general-fk_settings-arm_fk-i_pose = Use i-pose instead of t-pose
 settings-general-fk_settings-skeleton_settings = 骨架设置
 settings-general-fk_settings-skeleton_settings-description = 打开或关闭骨架设置。建议保持这些设置不变。
 settings-general-fk_settings-skeleton_settings-extended_spine = 脊柱延伸

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

@@ -54,6 +54,7 @@ interface SettingsForm {
     floorClip: boolean;
     skatingCorrection: boolean;
     viveEmulation: boolean;
+    iPose: boolean;
   };
   tapDetection: {
     tapMountingResetEnabled: boolean;
@@ -92,6 +93,7 @@ const defaultValues = {
     floorClip: false,
     skatingCorrection: false,
     viveEmulation: false,
+    iPose: false,
   },
   filtering: { amount: 0.1, type: FilteringType.NONE },
   driftCompensation: {
@@ -149,6 +151,7 @@ export function GeneralSettings() {
     toggles.extendedSpine = values.toggles.extendedSpine;
     toggles.forceArmsFromHmd = values.toggles.forceArmsFromHmd;
     toggles.viveEmulation = values.toggles.viveEmulation;
+    toggles.iPose = values.toggles.iPose;
     legTweaks.correctionStrength = values.legTweaks.correctionStrength;
 
     modelSettings.toggles = toggles;
@@ -553,6 +556,17 @@ export function GeneralSettings() {
               )}
             />
           </div>
+          <div className="grid sm:grid-cols-2 pb-5">
+            <CheckBox
+              variant="toggle"
+              outlined
+              control={control}
+              name="toggles.iPose"
+              label={l10n.getString(
+                'settings-general-fk_settings-arm_fk-i_pose'
+              )}
+            />
+          </div>
           {config?.debug && (
             <>
               <Typography bold>

server/src/main/java/com/jme3/math/Quaternion.java

@@ -45,9 +45,9 @@ import java.util.logging.Logger;
  * hypercomplex numbers. Quaternions extends a rotation in three dimensions to a
  * rotation in four dimensions. This avoids "gimbal lock" and allows for smooth
  * continuous rotation.
- * 
+ *
  * <code>Quaternion</code> is defined by four floating point numbers: {x y z w}.
- * 
+ *
  * @author Mark Powell
  * @author Joshua Slack
  */
@@ -239,10 +239,10 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * angles (x,y,z) aka (pitch, yaw, rall)). Note that we are applying in
 	 * order: (y, z, x) aka (yaw, roll, pitch) but we've ordered them in x, y,
 	 * and z for convenience.
-	 * 
+	 *
 	 * @see <a href=
 	 * "http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToQuaternion/index.htm">http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToQuaternion/index.htm</a>
-	 * 
+	 *
 	 * @param xAngle the Euler pitch of rotation (in radians). (aka Attitude,
 	 * often rot around x)
 	 * @param yAngle the Euler yaw of rotation (in radians). (aka Heading, often
@@ -283,10 +283,10 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * angles (pitch, yaw, roll).<br/>
 	 * Note that the result is not always 100% accurate due to the implications
 	 * of euler angles.
-	 * 
+	 *
 	 * @see <a href=
 	 * "http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm">http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm</a>
-	 * 
+	 *
 	 * @param angles the float[] in which the angles should be stored, or null
 	 * if you want a new float[] to be created
 	 * @return the float[] in which the angles are stored (pitch, yaw, roll).
@@ -327,7 +327,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 
 	/**
 	 * Returns Euler rotation angle around x axis (pitch).
-	 * 
+	 *
 	 * @return
 	 * @see #toAngles(float[])
 	 */
@@ -377,7 +377,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 
 	/**
 	 * Returns Euler rotation angle around z axis (roll).
-	 * 
+	 *
 	 * @return
 	 * @see #toAngles(float[])
 	 */
@@ -399,10 +399,10 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	}
 
 	/**
-	 * 
+	 *
 	 * <code>fromRotationMatrix</code> generates a quaternion from a supplied
 	 * matrix. This matrix is assumed to be a rotational matrix.
-	 * 
+	 *
 	 * @param matrix the matrix that defines the rotation.
 	 */
 	public Quaternion fromRotationMatrix(Matrix3f matrix) {
@@ -501,7 +501,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * <code>toRotationMatrix</code> converts this quaternion to a rotational
 	 * matrix. Note: the result is created from a normalized version of this
 	 * quat.
-	 * 
+	 *
 	 * @return the rotation matrix representation of this quaternion.
 	 */
 	public Matrix3f toRotationMatrix() {
@@ -512,7 +512,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	/**
 	 * <code>toRotationMatrix</code> converts this quaternion to a rotational
 	 * matrix. The result is stored in result.
-	 * 
+	 *
 	 * @param result The Matrix3f to store the result in.
 	 * @return the rotation matrix representation of this quaternion.
 	 */
@@ -557,7 +557,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * matrix. The result is stored in result. 4th row and 4th column values are
 	 * untouched. Note: the result is created from a normalized version of this
 	 * quat.
-	 * 
+	 *
 	 * @param result The Matrix4f to store the result in.
 	 * @return the rotation matrix representation of this quaternion.
 	 */
@@ -802,6 +802,38 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 		return angle;
 	}
 
+	public Quaternion align(Vector3f v1, Vector3f v2) {
+		float aLenSq = v1.x * v1.x + v1.y * v1.y + v2.z * v2.z;
+		float bLenSq = v2.x * v2.x + v2.y * v2.y + v2.z * v2.z;
+
+		float aLenSqInv = 1f / aLenSq;
+
+		float Rw = aLenSqInv * (x * v1.x + y * v1.y + z * v2.z);
+		float Rx = aLenSqInv * (z * v1.y - w * v1.x - y * v2.z);
+		float Ry = aLenSqInv * (x * v2.z - w * v1.y - z * v1.x);
+		float Rz = aLenSqInv * (y * v1.x - w * v2.z - x * v1.y);
+
+		float Sw = -v2.x * Rx - v2.y * Ry - v2.z * Rz;
+		float Sx = v2.x * Rw - v2.z * Ry + v2.y * Rz;
+		float Sy = v2.y * Rw + v2.z * Rx - v2.x * Rz;
+		float Sz = v2.z * Rw - v2.y * Rx + v2.x * Ry;
+
+		float mul = (float) Math.sqrt(aLenSqInv * bLenSq);
+
+		// (b*Q*a^-1 + len(b*a^-1)*Q)/2,
+		// a and b are treated as pure imaginary Quaternions
+		w = 0.5f * (Sw + mul * w);
+		x = 0.5f * (Sx + mul * x);
+		y = 0.5f * (Sy + mul * y);
+		z = 0.5f * (Sz + mul * z);
+
+		return this;
+	}
+
+	public Vector3f toAxis() {
+		return new Vector3f(x, y, z);
+	}
+
 	public float angleBetween(Quaternion q2) {
 		float w = this.w * q2.w + this.x * q2.x + this.y * q2.y + this.z * q2.z;
 		float x = this.w * q2.x - this.x * q2.w - this.y * q2.z + this.z * q2.y;
@@ -903,7 +935,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	/**
 	 * Sets the values of this quaternion to the nlerp from itself to q2 by
 	 * blend.
-	 * 
+	 *
 	 * @param q2
 	 * @param blend
 	 */
@@ -1251,7 +1283,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	/**
 	 * <code>mult</code> multiplies this quaternion by a parameter vector. The
 	 * result is returned as a new vector.
-	 * 
+	 *
 	 * @param v the vector to multiply this quaternion by.
 	 * @param store the vector to store the result in. It IS safe for v and
 	 * store to be the same object.
@@ -1374,7 +1406,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	/**
 	 * <code>mult</code> multiplies this quaternion by a parameter vector. The
 	 * result is returned as a new vector.
-	 * 
+	 *
 	 * @param vx
 	 * @param vy
 	 * @param vz the vector to multiply this quaternion by.
@@ -1614,11 +1646,11 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	}
 
 	/**
-	 * 
+	 *
 	 * <code>hashCode</code> returns the hash code value as an integer and is
 	 * supported for the benefit of hashing based collection classes such as
 	 * Hashtable, HashMap, HashSet etc.
-	 * 
+	 *
 	 * @return the hashcode for this instance of Quaternion.
 	 * @see java.lang.Object#hashCode()
 	 */
@@ -1637,7 +1669,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * <code>readExternal</code> builds a quaternion from an
 	 * <code>ObjectInput</code> object. <br>
 	 * NOTE: Used with serialization. Not to be called manually.
-	 * 
+	 *
 	 * @param in the ObjectInput value to read from.
 	 * @throws IOException if the ObjectInput value has problems reading a
 	 * float.
@@ -1654,7 +1686,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * <code>writeExternal</code> writes this quaternion out to a
 	 * <code>ObjectOutput</code> object. NOTE: Used with serialization. Not to
 	 * be called manually.
-	 * 
+	 *
 	 * @param out the object to write to.
 	 * @throws IOException if writing to the ObjectOutput fails.
 	 * @see java.io.Externalizable
@@ -1696,7 +1728,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	/**
 	 * FIXME: This seems to have singularity type issues with angle == 0,
 	 * possibly others such as PI.
-	 * 
+	 *
 	 * @param store A Quaternion to store our result in. If null, a new one is
 	 * created.
 	 * @return The store quaternion (or a new Quaterion, if store is null) that
@@ -1737,7 +1769,7 @@ public final class Quaternion implements Cloneable, java.io.Serializable {
 	 * <p>
 	 * Based on implementation from here:
 	 * https://github.com/toji/gl-matrix/blob/f0583ef53e94bc7e78b78c8a24f09ed5e2f7a20c/src/gl-matrix/quat.js#L54
-	 * 
+	 *
 	 * @param vec1
 	 * @param vec2
 	 * @return this quaternion

server/src/main/java/dev/slimevr/poserecorder/PoseFrameTracker.java

@@ -210,7 +210,7 @@ public class PoseFrameTracker implements Tracker, Iterable<TrackerFrame> {
 	}
 
 	@Override
-	public void resetFull(Quaternion reference) {
+	public void resetFull(Quaternion reference, boolean tPose) {
 		throw new UnsupportedOperationException("PoseFrameTracker does not implement calibration");
 	}
 
@@ -220,7 +220,7 @@ public class PoseFrameTracker implements Tracker, Iterable<TrackerFrame> {
 	}
 
 	@Override
-	public void resetMounting(boolean reverseYaw) {
+	public void resetMounting(boolean reverseYaw, boolean tPose) {
 		throw new UnsupportedOperationException("PoseFrameTracker does not implement calibration");
 	}
 

server/src/main/java/dev/slimevr/poserecorder/TrackerFrame.java

@@ -148,7 +148,7 @@ public final class TrackerFrame implements Tracker {
 	}
 
 	@Override
-	public void resetFull(Quaternion reference) {
+	public void resetFull(Quaternion reference, boolean tPose) {
 		throw new UnsupportedOperationException("TrackerFrame does not implement calibration");
 	}
 
@@ -158,7 +158,7 @@ public final class TrackerFrame implements Tracker {
 	}
 
 	@Override
-	public void resetMounting(boolean reverseYaw) {
+	public void resetMounting(boolean reverseYaw, boolean tPose) {
 		throw new UnsupportedOperationException("TrackerFrame does not implement calibration");
 	}
 

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

@@ -153,7 +153,8 @@ public class RPCSettingsBuilder {
 				config.getToggle(SkeletonConfigToggles.FORCE_ARMS_FROM_HMD),
 				config.getToggle(SkeletonConfigToggles.FLOOR_CLIP),
 				config.getToggle(SkeletonConfigToggles.SKATING_CORRECTION),
-				config.getToggle(SkeletonConfigToggles.VIVE_EMULATION)
+				config.getToggle(SkeletonConfigToggles.VIVE_EMULATION),
+				config.getToggle(SkeletonConfigToggles.I_POSE)
 			);
 		int ratiosOffset = ModelRatios
 			.createModelRatios(

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

@@ -273,6 +273,7 @@ public record RPCSettingsHandler(RPCHandler rpcHandler, ProtocolAPI api) {
 						toggles.skatingCorrection()
 					);
 				cfg.setToggle(SkeletonConfigToggles.VIVE_EMULATION, toggles.viveEmulation());
+				cfg.setToggle(SkeletonConfigToggles.I_POSE, toggles.iPose());
 			}
 
 			if (ratios != null) {

server/src/main/java/dev/slimevr/vr/processor/skeleton/HumanSkeleton.java

@@ -123,6 +123,7 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 	protected boolean extendedPelvisModel;
 	protected boolean extendedKneeModel;
 	protected boolean forceArmsFromHMD;
+	protected boolean iPose;
 	// Values
 	protected float waistFromChestHipAveraging;
 	protected float waistFromChestLegsAveraging;
@@ -1370,6 +1371,7 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 			case SKATING_CORRECTION -> legTweaks.setSkatingReductionEnabled(newValue);
 			case FLOOR_CLIP -> legTweaks.setFloorclipEnabled(newValue);
 			case VIVE_EMULATION -> viveEmulation.setEnabled(newValue);
+			case I_POSE -> iPose = newValue;
 		}
 	}
 
@@ -1742,7 +1744,7 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 
 		for (Tracker tracker : trackersToReset) {
 			if (tracker != null) {
-				tracker.resetFull(referenceRotation);
+				tracker.resetFull(referenceRotation, !iPose);
 			}
 		}
 
@@ -1764,6 +1766,8 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 		return position != null
 			&& (position == TrackerPosition.LEFT_UPPER_LEG
 				|| position == TrackerPosition.RIGHT_UPPER_LEG
+				|| position == TrackerPosition.LEFT_UPPER_ARM
+				|| position == TrackerPosition.RIGHT_UPPER_ARM
 				|| position == TrackerPosition.LEFT_LOWER_ARM
 				|| position == TrackerPosition.RIGHT_LOWER_ARM
 				|| position == TrackerPosition.LEFT_HAND
@@ -1778,7 +1782,7 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 
 		for (Tracker tracker : trackersToReset) {
 			if (tracker != null && shouldResetMounting(tracker.getBodyPosition())) {
-				tracker.resetMounting(shouldReverseYaw(tracker.getBodyPosition()));
+				tracker.resetMounting(shouldReverseYaw(tracker.getBodyPosition()), !iPose);
 			}
 		}
 		this.legTweaks.resetBuffer();

server/src/main/java/dev/slimevr/vr/processor/skeleton/SkeletonConfig.java

@@ -305,18 +305,22 @@ public class SkeletonConfig {
 				-getOffset(SkeletonConfigOffsets.SHOULDERS_DISTANCE),
 				0
 			);
-			case LEFT_UPPER_ARM, RIGHT_UPPER_ARM -> setNodeOffset(
-				nodeOffset,
-				0,
-				-getOffset(SkeletonConfigOffsets.UPPER_ARM),
-				0
-			);
-			case LEFT_LOWER_ARM, RIGHT_LOWER_ARM -> setNodeOffset(
-				nodeOffset,
-				0,
-				getOffset(SkeletonConfigOffsets.LOWER_ARM),
-				0
-			);
+			case LEFT_UPPER_ARM, RIGHT_UPPER_ARM -> {
+				setNodeOffset(
+					nodeOffset,
+					0,
+					-getOffset(SkeletonConfigOffsets.UPPER_ARM),
+					0
+				);
+			}
+			case LEFT_LOWER_ARM, RIGHT_LOWER_ARM -> {
+				setNodeOffset(
+					nodeOffset,
+					0,
+					-getOffset(SkeletonConfigOffsets.LOWER_ARM),
+					0
+				);
+			}
 			case LEFT_HAND, RIGHT_HAND -> setNodeOffset(
 				nodeOffset,
 				0,
@@ -329,12 +333,14 @@ public class SkeletonConfig {
 				getOffset(SkeletonConfigOffsets.CONTROLLER_Y),
 				getOffset(SkeletonConfigOffsets.CONTROLLER_Z)
 			);
-			case LEFT_ELBOW_TRACKER, RIGHT_ELBOW_TRACKER -> setNodeOffset(
-				nodeOffset,
-				0,
-				getOffset(SkeletonConfigOffsets.ELBOW_OFFSET),
-				0
-			);
+			case LEFT_ELBOW_TRACKER, RIGHT_ELBOW_TRACKER -> {
+				setNodeOffset(
+					nodeOffset,
+					0,
+					-getOffset(SkeletonConfigOffsets.ELBOW_OFFSET),
+					0
+				);
+			}
 		}
 	}
 

server/src/main/java/dev/slimevr/vr/processor/skeleton/SkeletonConfigToggles.java

@@ -6,43 +6,36 @@ import java.util.Map;
 
 public enum SkeletonConfigToggles {
 
-	EXTENDED_SPINE_MODEL(1, "Extended spine model", "extendedSpine", true),
-	EXTENDED_PELVIS_MODEL(2, "Extended pelvis model", "extendedPelvis", true),
-	EXTENDED_KNEE_MODEL(3, "Extended knee model", "extendedKnee", true),
-	FORCE_ARMS_FROM_HMD(4, "Force arms from HMD", "forceArmsFromHMD", true),
-	FLOOR_CLIP(5, "Floor clip", "floorClip", true),
-	SKATING_CORRECTION(6, "Skating correction", "skatingCorrection", true),
-	VIVE_EMULATION(7, "Vive emulation", "viveEmulation", false),;
+	EXTENDED_SPINE_MODEL(1, "extendedSpine", true),
+	EXTENDED_PELVIS_MODEL(2, "extendedPelvis", true),
+	EXTENDED_KNEE_MODEL(3, "extendedKnee", true),
+	FORCE_ARMS_FROM_HMD(4, "forceArmsFromHMD", true),
+	FLOOR_CLIP(5, "floorClip", true),
+	SKATING_CORRECTION(6, "skatingCorrection", true),
+	VIVE_EMULATION(7, "viveEmulation", false),
+	I_POSE(8, "iPose", false),;
 
 	public static final SkeletonConfigToggles[] values = values();
-	private static final Map<String, SkeletonConfigToggles> byStringVal = new HashMap<>();
 
 	private static final Map<Number, SkeletonConfigToggles> byIdVal = new HashMap<>();
 
 	static {
 		for (SkeletonConfigToggles configVal : values()) {
 			byIdVal.put(configVal.id, configVal);
-			byStringVal.put(configVal.stringVal.toLowerCase(), configVal);
 		}
 	}
 
 	public final int id;
-	public final String stringVal;
 	public final String configKey;
 	public final boolean defaultValue;
 
-	SkeletonConfigToggles(int id, String stringVal, String configKey, boolean defaultValue) {
+	SkeletonConfigToggles(int id, String configKey, boolean defaultValue) {
 		this.id = id;
-		this.stringVal = stringVal;
 		this.configKey = configKey;
 
 		this.defaultValue = defaultValue;
 	}
 
-	public static SkeletonConfigToggles getByStringValue(String stringVal) {
-		return stringVal == null ? null : byStringVal.get(stringVal.toLowerCase());
-	}
-
 	public static SkeletonConfigToggles getById(int id) {
 		return byIdVal.get(id);
 	}

server/src/main/java/dev/slimevr/vr/trackers/ComputedTracker.java

@@ -107,7 +107,7 @@ public class ComputedTracker implements Tracker, TrackerWithTPS {
 	}
 
 	@Override
-	public void resetFull(Quaternion reference) {
+	public void resetFull(Quaternion reference, boolean tPose) {
 	}
 
 	@Override
@@ -115,7 +115,7 @@ public class ComputedTracker implements Tracker, TrackerWithTPS {
 	}
 
 	@Override
-	public void resetMounting(boolean reverseYaw) {
+	public void resetMounting(boolean reverseYaw, boolean tPose) {
 	}
 
 	@Override

server/src/main/java/dev/slimevr/vr/trackers/IMUTracker.java

@@ -22,6 +22,10 @@ public class IMUTracker
 	TrackerWithFiltering {
 
 	public static final float MAX_MAG_CORRECTION_ACCURACY = 5 * FastMath.RAD_TO_DEG;
+	private static final Quaternion LEFT_TPOSE_OFFSET = new Quaternion()
+		.fromAngles(0, 0, FastMath.HALF_PI);
+	private static final Quaternion RIGHT_TPOSE_OFFSET = new Quaternion()
+		.fromAngles(0, 0, -FastMath.HALF_PI);
 
 	// public final Vector3f gyroVector = new Vector3f();
 	public final Vector3f accelVector = new Vector3f();
@@ -36,7 +40,7 @@ public class IMUTracker
 	// Reference adjustment quats
 	private final Quaternion gyroFix = new Quaternion();
 	private final Quaternion attachmentFix = new Quaternion();
-	private final Quaternion mountRotFix = new Quaternion();
+	private final Quaternion yawMountRotFix = new Quaternion();
 	private final Quaternion yawFix = new Quaternion();
 
 	// Zero-reference adjustment quats for IMU debugging
@@ -258,7 +262,7 @@ public class IMUTracker
 	 */
 	@Override
 	public boolean getRotation(Quaternion store) {
-		this.getFilteredRotation(store);
+		getFilteredRotation(store);
 		// correction.mult(store, store); // Correction is not used now to
 		// prevent accidental errors while debugging other things
 		store.multLocal(mountAdjust);
@@ -287,7 +291,7 @@ public class IMUTracker
 	 * @param store Where to store the calculation result.
 	 */
 	public boolean getIdentityAdjustedRotation(Quaternion store) {
-		this.getFilteredRotation(store);
+		getFilteredRotation(store);
 		adjustToIdentity(store);
 		return true;
 	}
@@ -401,12 +405,13 @@ public class IMUTracker
 	 * 0). This allows the tracker to be strapped to body at any pitch and roll.
 	 */
 	@Override
-	public void resetFull(Quaternion reference) {
+	public void resetFull(Quaternion reference, boolean tPose) {
 		Quaternion rot = getAdjustedRawRotation();
-		fixGyroscope(getMountedAdjustedRotation());
-		fixAttachment(getMountedAdjustedRotation());
+		fixGyroscope(getMountedAdjustedRotation(), tPose);
+		fixAttachment(getMountedAdjustedRotation(), tPose);
 		makeIdentityAdjustmentQuatsFull();
 		fixYaw(getMountedAdjustedRotation(), reference);
+		makeIdentityAdjustmentQuatsYaw();
 		calibrateMag();
 		calculateDrift(rot);
 	}
@@ -430,22 +435,22 @@ public class IMUTracker
 	/**
 	 * Converts raw or filtered rotation into reference- and
 	 * mounting-reset-adjusted by applying quaternions produced after
-	 * {@link #resetFull(Quaternion)}, {@link #resetYaw(Quaternion)} and
-	 * {@link #resetMounting(boolean)}.
+	 * {@link #resetFull(Quaternion, boolean)}, {@link #resetYaw(Quaternion)}
+	 * and {@link #resetMounting(boolean, boolean)}.
 	 *
 	 * @param store Raw or filtered rotation to mutate.
 	 */
 	protected void adjustToReference(Quaternion store) {
 		gyroFix.mult(store, store);
 		store.multLocal(attachmentFix);
-		store.multLocal(mountRotFix);
+		store.multLocal(yawMountRotFix);
 		yawFix.mult(store, store);
 	}
 
 	/**
 	 * Converts raw or filtered rotation into zero-reference-adjusted by
-	 * applying quaternions produced after {@link #resetFull(Quaternion)},
-	 * {@link #resetYaw(Quaternion)}.
+	 * applying quaternions produced after
+	 * {@link #resetFull(Quaternion, boolean)}, {@link #resetYaw(Quaternion)}.
 	 *
 	 * @param store Raw or filtered rotation to mutate.
 	 */
@@ -455,41 +460,59 @@ public class IMUTracker
 		yawFixZeroReference.mult(store, store);
 	}
 
-	private void fixGyroscope(Quaternion sensorRotation) {
+	private void fixGyroscope(Quaternion sensorRotation, boolean tPose) {
 		sensorRotation = sensorRotation.clone();
+		if (tPose)
+			fixForTPose(sensorRotation);
 		sensorRotation.fromAngles(0, sensorRotation.getYaw(), 0);
 		gyroFix.set(sensorRotation.inverseLocal());
 	}
 
-	private void fixAttachment(Quaternion sensorRotation) {
+	private void fixAttachment(Quaternion sensorRotation, boolean tPose) {
 		sensorRotation = sensorRotation.clone();
 		gyroFix.mult(sensorRotation, sensorRotation);
+		if (tPose)
+			fixForTPose(sensorRotation);
 		attachmentFix.set(sensorRotation.inverseLocal());
 	}
 
 	@Override
-	public void resetMounting(boolean reverseYaw) {
+	public void resetMounting(boolean reverseYaw, boolean tPose) {
 		// Get the current calibrated rotation
 		Quaternion buffer = getMountedAdjustedDriftRotation();
 		gyroFix.mult(buffer, buffer);
 		buffer.multLocal(attachmentFix);
+		float yawAngle;
 
-		// Reset the vector for the rotation to point straight up
-		rotVector.set(0f, 1f, 0f);
-		// Rotate the vector by the quat, then flatten and normalize the vector
-		buffer.multLocal(rotVector).setY(0f).normalizeLocal();
-
-		// Calculate the yaw angle using tan
-		// Just use an angle offset of zero for unsolvable circumstances
-		float yawAngle = FastMath.isApproxZero(rotVector.x) && FastMath.isApproxZero(rotVector.z)
-			? 0f
-			: FastMath.atan2(rotVector.x, rotVector.z);
+		if (tPose && (isOnLeftArm() || isOnRightArm())) {
+			// Find the global axis the tracker thinks it rotated about (should
+			// be z), then projected on to the xz plane
+			rotVector
+				.set(
+					((isOnLeftArm() ? LEFT_TPOSE_OFFSET : RIGHT_TPOSE_OFFSET)
+						.mult(buffer)).toAxis()
+				);
+			yawAngle = FastMath
+				.atan2(
+					rotVector.cross(Vector3f.NEGATIVE_UNIT_Z).dot(Vector3f.UNIT_Y),
+					rotVector.dot(Vector3f.NEGATIVE_UNIT_Z)
+				);
+			// TODO find out what what is causing arms to not work (yawFix?)
+		} else {
+			// Find the global axis the tracker thinks it rotated about (should
+			// be z), then projected on to the xz plane
+			rotVector.set(buffer.inverseLocal().toAxis());
+			yawAngle = new Quaternion(0f, 0f, 0f, 1f)
+				.align(rotVector, Vector3f.UNIT_X)
+				.normalizeLocal()
+				.getYaw();
+		}
 
 		// Make an adjustment quaternion from the angle
 		buffer.fromAngles(0f, reverseYaw ? yawAngle : yawAngle - FastMath.PI, 0f);
 
-		Quaternion lastRotAdjust = mountRotFix.clone();
-		mountRotFix.set(buffer);
+		Quaternion lastRotAdjust = yawMountRotFix.clone();
+		yawMountRotFix.set(buffer);
 
 		// Get the difference from the last adjustment
 		buffer.multLocal(lastRotAdjust.inverseLocal());
@@ -505,7 +528,7 @@ public class IMUTracker
 		sensorRotation = sensorRotation.clone();
 		gyroFix.mult(sensorRotation, sensorRotation);
 		sensorRotation.multLocal(attachmentFix);
-		sensorRotation.multLocal(mountRotFix);
+		sensorRotation.multLocal(yawMountRotFix);
 
 		sensorRotation.fromAngles(0, sensorRotation.getYaw(), 0);
 
@@ -673,6 +696,26 @@ public class IMUTracker
 		// TODO Print "jump" length when correcting if it's more than 1 degree
 	}
 
+	private void fixForTPose(Quaternion store) {
+		if (isOnLeftArm()) {
+			store.set(LEFT_TPOSE_OFFSET.mult(store));
+		} else if (isOnRightArm()) {
+			store.set(RIGHT_TPOSE_OFFSET.mult(store));
+		}
+	}
+
+	private boolean isOnLeftArm() {
+		return bodyPosition == TrackerPosition.LEFT_UPPER_ARM
+			|| bodyPosition == TrackerPosition.LEFT_LOWER_ARM
+			|| bodyPosition == TrackerPosition.LEFT_HAND;
+	}
+
+	private boolean isOnRightArm() {
+		return bodyPosition == TrackerPosition.RIGHT_UPPER_ARM
+			|| bodyPosition == TrackerPosition.RIGHT_LOWER_ARM
+			|| bodyPosition == TrackerPosition.RIGHT_HAND;
+	}
+
 	@Override
 	public TrackerPosition getBodyPosition() {
 		return bodyPosition;

server/src/main/java/dev/slimevr/vr/trackers/Tracker.java

@@ -34,11 +34,11 @@ public interface Tracker {
 
 	float getConfidenceLevel();
 
-	void resetFull(Quaternion reference);
+	void resetFull(Quaternion reference, boolean tPose);
 
 	void resetYaw(Quaternion reference);
 
-	void resetMounting(boolean reverseYaw);
+	void resetMounting(boolean reverseYaw, boolean tPose);
 
 	void tick();
 

server/src/main/java/dev/slimevr/vr/trackers/VRTracker.java

@@ -1,5 +1,6 @@
 package dev.slimevr.vr.trackers;
 
+import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
 import dev.slimevr.vr.Device;
 import io.eiren.util.BufferedTimer;
@@ -7,6 +8,10 @@ import io.eiren.util.BufferedTimer;
 
 public class VRTracker extends ComputedTracker {
 
+	private static final Quaternion LEFT_TPOSE_OFFSET = new Quaternion()
+		.fromAngles(0, 0, FastMath.HALF_PI);
+	private static final Quaternion RIGHT_TPOSE_OFFSET = new Quaternion()
+		.fromAngles(0, 0, -FastMath.HALF_PI);
 	protected BufferedTimer timer = new BufferedTimer(1f);
 	public final Quaternion mountFix = new Quaternion();
 	public final Quaternion attachmentFix = new Quaternion();
@@ -45,8 +50,8 @@ public class VRTracker extends ComputedTracker {
 	}
 
 	@Override
-	public void resetFull(Quaternion reference) {
-		fixAttachment(rotation, reference);
+	public void resetFull(Quaternion reference, boolean tPose) {
+		fixAttachment(rotation, reference, tPose);
 		fixYaw(rotation, reference);
 	}
 
@@ -55,9 +60,10 @@ public class VRTracker extends ComputedTracker {
 		fixYaw(rotation, reference);
 	}
 
-	private void fixAttachment(Quaternion sensorRotation, Quaternion reference) {
+	private void fixAttachment(Quaternion sensorRotation, Quaternion reference, boolean tPose) {
 		mountFix.fromAngles(0, reference.getYaw(), 0);
-
+		if (tPose)
+			fixForTPose(sensorRotation);
 		attachmentFix.set(sensorRotation.inverse());
 	}
 
@@ -75,6 +81,26 @@ public class VRTracker extends ComputedTracker {
 		yawFix.set(sensorRotation).inverseLocal().multLocal(reference);
 	}
 
+	private void fixForTPose(Quaternion store) {
+		if (isOnLeftArm()) {
+			store.set(LEFT_TPOSE_OFFSET.mult(store));
+		} else if (isOnRightArm()) {
+			store.set(RIGHT_TPOSE_OFFSET.mult(store));
+		}
+	}
+
+	private boolean isOnLeftArm() {
+		return bodyPosition == TrackerPosition.LEFT_UPPER_ARM
+			|| bodyPosition == TrackerPosition.LEFT_LOWER_ARM
+			|| bodyPosition == TrackerPosition.LEFT_HAND;
+	}
+
+	private boolean isOnRightArm() {
+		return bodyPosition == TrackerPosition.RIGHT_UPPER_ARM
+			|| bodyPosition == TrackerPosition.RIGHT_LOWER_ARM
+			|| bodyPosition == TrackerPosition.RIGHT_HAND;
+	}
+
 	@Override
 	public float getTPS() {
 		return timer.getAverageFPS();

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

@@ -186,7 +186,7 @@ public class ReferenceAdjustmentsTests {
 			null
 		);
 		tracker.rotQuaternion.set(trackerQuat);
-		tracker.resetFull(referenceQuat);
+		tracker.resetFull(referenceQuat, false);
 		Quaternion read = new Quaternion();
 		assertTrue(tracker.getRotation(read), "Adjusted tracker didn't return rotation");
 
@@ -257,7 +257,7 @@ public class ReferenceAdjustmentsTests {
 			null
 		);
 		tracker.rotQuaternion.set(trackerQuat);
-		tracker.resetFull(referenceQuat);
+		tracker.resetFull(referenceQuat, false);
 
 		// Use only yaw HMD rotation
 		Quaternion targetTrackerRotation = new Quaternion(referenceQuat);