Make GUI less garbage (still gabage, but less)

Update README.md

.editorconfig

@@ -0,0 +1,11 @@
+# This file is for unifying the coding style for different editors and IDEs
+# See editorconfig.org
+
+root = true
+
+[*]
+indent_style = tab
+end_of_line = lf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true

.github/workflows/gradle.yml

@@ -1,48 +1,67 @@
 # This workflow will build a Java project with Gradle
 # For more information see: https://help.github.com/actions/language-and-framework-guides/building-and-testing-java-with-gradle
 
-name: Build SlimeVR Server with Gradle
+name: SlimeVR Server
 
-on:
-  push:
-    branches: [ main ]
-  pull_request:
-    branches: [ main ]
+on: [ push, pull_request ]
 
 jobs:
-  build:
-
+  test:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2.3.4
-    
-    - name: Clone Slime Java Commons
-      uses: actions/checkout@v2.3.4
-      with:
-        repository: Eirenliel/slime-java-commons
-        # Relative path under $GITHUB_WORKSPACE to place the repository
-        path: Slime Java Commons
-    
-    - name: Set up JDK 11
-      uses: actions/setup-java@v2.1.0
-      with:
-        java-version: '11'
-        distribution: 'adopt'
-        
-    - name: Grant execute permission for gradlew
-      run: chmod +x gradlew
-      
-    - name: Test with Gradle
-      run: ./gradlew clean test
-      
-    - name: Build with Gradle
-      run: ./gradlew clean serverJar
-      
-    - name: Upload the Server JAR as a Build Artifact
-      uses: actions/upload-artifact@v2.2.4
-      with:
-        # Artifact name
-        name: "SlimeVR-Server" # optional, default is artifact
-        # A file, directory or wildcard pattern that describes what to upload
-        path: build/libs/*
+      - uses: actions/checkout@v2.3.4
+
+      - name: Clone Slime Java Commons
+        uses: actions/checkout@v2.3.4
+        with:
+          repository: Eirenliel/slime-java-commons
+          # Relative path under $GITHUB_WORKSPACE to place the repository
+          path: Slime Java Commons
+
+      - name: Set up JDK 8
+        uses: actions/setup-java@v2.1.0
+        with:
+          java-version: '8'
+          distribution: 'adopt'
+          cache: 'gradle' # will restore cache of dependencies and wrappers
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+
+      - name: Test with Gradle
+        run: ./gradlew clean test
+
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v2.3.4
+
+      - name: Clone Slime Java Commons
+        uses: actions/checkout@v2.3.4
+        with:
+          repository: Eirenliel/slime-java-commons
+          # Relative path under $GITHUB_WORKSPACE to place the repository
+          path: Slime Java Commons
+
+      - name: Set up JDK 8
+        uses: actions/setup-java@v2.1.0
+        with:
+          java-version: '8'
+          distribution: 'adopt'
+          cache: 'gradle' # will restore cache of dependencies and wrappers
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+
+      - name: Build with Gradle
+        run: ./gradlew clean shadowJar
+
+      - name: Upload the Server JAR as a Build Artifact
+        uses: actions/upload-artifact@v2.2.4
+        with:
+          # Artifact name
+          name: "SlimeVR-Server" # optional, default is artifact
+          # A file, directory or wildcard pattern that describes what to upload
+          path: build/libs/*

README.md

@@ -14,3 +14,21 @@ Integrations:
 ## How to use
 
 Latest instructions are currently [here](https://gist.github.com/Eirenliel/8c0eefcdbda1076d5c2e1bf634831d20). Will be updated and republished as time goes on.
+
+## How to build
+
+You need to execute these commands in the folder where you want this project.
+
+```bash
+# Clone repositories
+git clone https://github.com/SlimeVR/SlimeVR-Server.git
+git clone https://github.com/Eirenliel/slime-java-commons.git
+
+# Enter the directory and build the runnable server JAR
+cd SlimeVR-Server
+gradlew shadowJar
+```
+
+Open Slime VR Server project in Eclipse or Intellij Idea
+
+run gradle command `shadowJar` to build a runnable server JAR

build.gradle

@@ -7,44 +7,64 @@
  */
 
 plugins {
-    // Apply the java-library plugin to add support for Java Library
-    id 'java-library'
+	id 'application'
+	id "com.github.johnrengelman.shadow" version "6.1.0"
+}
+
+sourceCompatibility = 1.8
+targetCompatibility = 1.8
+
+// Set compiler to use UTF-8
+compileJava.options.encoding = 'UTF-8'
+compileTestJava.options.encoding = 'UTF-8'
+javadoc.options.encoding = 'UTF-8'
+
+tasks.withType(JavaCompile) {
+	options.encoding = 'UTF-8'
+}
+tasks.withType(Test) {
+	systemProperty('file.encoding', 'UTF-8')
+}
+tasks.withType(Javadoc) {
+	options.encoding = 'UTF-8'
 }
 
 repositories {
-    // Use jcenter for resolving dependencies.
-    // You can declare any Maven/Ivy/file repository here.
-    jcenter()
-    mavenCentral()
+	// Use jcenter for resolving dependencies.
+	// You can declare any Maven/Ivy/file repository here.
+	jcenter()
+	mavenCentral()
 }
 
 dependencies {
 	compile project(':Slime Java Commons')
 
-    // This dependency is exported to consumers, that is to say found on their compile classpath.
-    api 'org.apache.commons:commons-math3:3.6.1'
-    api 'org.yaml:snakeyaml:1.25'
-    api 'net.java.dev.jna:jna:5.6.0'
-    api 'net.java.dev.jna:jna-platform:5.6.0'
-    api 'com.illposed.osc:javaosc-core:0.8'
-    api 'com.fazecast:jSerialComm:[2.0.0,3.0.0)'
+	// This dependency is exported to consumers, that is to say found on their compile classpath.
+	compile 'org.apache.commons:commons-math3:3.6.1'
+	compile 'org.yaml:snakeyaml:1.25'
+	compile 'net.java.dev.jna:jna:5.6.0'
+	compile 'net.java.dev.jna:jna-platform:5.6.0'
+	compile 'com.illposed.osc:javaosc-core:0.8'
+	compile 'com.fazecast:jSerialComm:[2.0.0,3.0.0)'
 
-    // This dependency is used internally, and not exposed to consumers on their own compile classpath.
-    implementation 'com.google.guava:guava:28.2-jre'
-    
+	// This dependency is used internally, and not exposed to consumers on their own compile classpath.
+	implementation 'com.google.guava:guava:28.2-jre'
 
-    // Use JUnit test framework
-    testImplementation 'junit:junit:4.12'
+
+	// Use JUnit test framework
+	testImplementation platform('org.junit:junit-bom:5.7.2')
+	testImplementation 'org.junit.jupiter:junit-jupiter'
+	testImplementation 'org.junit.platform:junit-platform-launcher'
+}
+test {
+	useJUnitPlatform()
 }
 
-subprojects.each { subproject -> evaluationDependsOn(subproject.path) }
-task serverJar (type: Jar, dependsOn: subprojects.tasks['build']) {
-    manifest {
-        attributes 'Main-Class': 'io.eiren.vr.Main'
-    }
-    
-    from {
-        configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
-    }
-    with jar
+shadowJar {
+	archiveBaseName.set('slimevr')
+	archiveClassifier.set('')
+	archiveVersion.set('')
+}
+application {
+	mainClassName = 'io.eiren.vr.Main'
 }

settings.gradle

@@ -8,4 +8,19 @@
  */
 
 rootProject.name = 'SlimeVR Server'
-include('Slime Java Commons')
+include('Slime Java Commons')
+
+def commonsDirs = [
+    new File(settingsDir, 'Slime Java Commons'),
+    new File(settingsDir, 'slime-java-commons'),
+    new File(settingsDir, '../Slime Java Commons'),
+    new File(settingsDir, '../slime-java-commons')
+]
+
+for (commonsDir in commonsDirs) {
+    if (commonsDir.isDirectory()) {
+        logger.info('\"Slime Java Commons\" subproject detected at \"{}\"', commonsDir.getCanonicalPath())
+        project(':Slime Java Commons').projectDir = commonsDir
+        break
+    }
+}

src/main/java/io/eiren/gui/SkeletonConfig.java

@@ -1,50 +1,117 @@
 package io.eiren.gui;
 
+import java.awt.event.ItemEvent;
+import java.awt.event.ItemListener;
 import java.awt.event.MouseEvent;
 import java.util.HashMap;
 import java.util.Map;
 
 import javax.swing.JButton;
+import javax.swing.JCheckBox;
 import javax.swing.JLabel;
 import javax.swing.event.MouseInputAdapter;
 
+import io.eiren.gui.autobone.AutoBoneWindow;
 import io.eiren.util.StringUtils;
 import io.eiren.util.ann.ThreadSafe;
 import io.eiren.vr.VRServer;
+import io.eiren.vr.processor.HumanSkeletonWithLegs;
 import io.eiren.vr.processor.HumanSkeleton;
 
 public class SkeletonConfig extends EJBag {
-	
+
 	private final VRServer server;
 	private final VRServerGUI gui;
+	private final AutoBoneWindow autoBone;
 	private Map<String, SkeletonLabel> labels = new HashMap<>();
-	
+
 	public SkeletonConfig(VRServer server, VRServerGUI gui) {
 		super();
 		this.server = server;
 		this.gui = gui;
+		this.autoBone = new AutoBoneWindow(server, this);
 
 		setAlignmentY(TOP_ALIGNMENT);
 		server.humanPoseProcessor.addSkeletonUpdatedCallback(this::skeletonUpdated);
+		skeletonUpdated(null);
 	}
-	
+
 	@ThreadSafe
 	public void skeletonUpdated(HumanSkeleton newSkeleton) {
 		java.awt.EventQueue.invokeLater(() -> {
 			removeAll();
-			
+
 			int row = 0;
-			
-			add(new TimedResetButton("Reset All", "All"), s(c(1, row, 1), 3, 1));
+
+			add(new JCheckBox("Extended pelvis model") {{
+				addItemListener(new ItemListener() {
+				    @Override
+				    public void itemStateChanged(ItemEvent e) {
+				        if(e.getStateChange() == ItemEvent.SELECTED) {//checkbox has been selected
+				        	if(newSkeleton != null && newSkeleton instanceof HumanSkeletonWithLegs) {
+				        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
+				        		hswl.setSkeletonConfigBoolean("Extended pelvis model", true);
+				        	}
+				        } else {
+				        	if(newSkeleton != null && newSkeleton instanceof HumanSkeletonWithLegs) {
+				        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
+				        		hswl.setSkeletonConfigBoolean("Extended pelvis model", false);
+				        	}
+				        }
+				    }
+				});
+				if(newSkeleton != null && newSkeleton instanceof HumanSkeletonWithLegs) {
+	        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
+	        		setSelected(hswl.getSkeletonConfigBoolean("Extended pelvis model"));
+				}
+			}}, s(c(0, row, 1), 3, 1));
 			row++;
-			
+
+			/*
+			add(new JCheckBox("Extended knee model") {{
+				addItemListener(new ItemListener() {
+				    @Override
+				    public void itemStateChanged(ItemEvent e) {
+				        if(e.getStateChange() == ItemEvent.SELECTED) {//checkbox has been selected
+				        	if(newSkeleton != null && newSkeleton instanceof HumanSkeletonWithLegs) {
+				        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
+				        		hswl.setSkeletonConfigBoolean("Extended knee model", true);
+				        	}
+				        } else {
+				        	if(newSkeleton != null && newSkeleton instanceof HumanSkeletonWithLegs) {
+				        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
+				        		hswl.setSkeletonConfigBoolean("Extended knee model", false);
+				        	}
+				        }
+				    }
+				});
+				if(newSkeleton != null && newSkeleton instanceof HumanSkeletonWithLegs) {
+	        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
+	        		setSelected(hswl.getSkeletonConfigBoolean("Extended knee model"));
+				}
+			}}, s(c(0, row, 1), 3, 1));
+			row++;
+			//*/
+
+			add(new TimedResetButton("Reset All", "All"), s(c(1, row, 1), 3, 1));
+			add(new JButton("Auto") {{
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						autoBone.setVisible(true);
+						autoBone.toFront();
+					}
+				});
+			}}, s(c(4, row, 1), 3, 1));
+			row++;
+
 			add(new JLabel("Chest"), c(0, row, 1));
 			add(new AdjButton("+", "Chest", 0.01f), c(1, row, 1));
 			add(new SkeletonLabel("Chest"), c(2, row, 1));
 			add(new AdjButton("-", "Chest", -0.01f), c(3, row, 1));
 			add(new ResetButton("Reset", "Chest"), c(4, row, 1));
 			row++;
-			
+
 			add(new JLabel("Waist"), c(0, row, 1));
 			add(new AdjButton("+", "Waist", 0.01f), c(1, row, 1));
 			add(new SkeletonLabel("Waist"), c(2, row, 1));
@@ -93,25 +160,34 @@ public class SkeletonConfig extends EJBag {
 			add(new AdjButton("-", "Neck", -0.01f), c(3, row, 1));
 			add(new ResetButton("Reset", "Neck"), c(4, row, 1));
 			row++;
-			
+
 			add(new JLabel("Virtual waist"), c(0, row, 1));
 			add(new AdjButton("+", "Virtual waist", 0.01f), c(1, row, 1));
 			add(new SkeletonLabel("Virtual waist"), c(2, row, 1));
 			add(new AdjButton("-", "Virtual waist", -0.01f), c(3, row, 1));
 			add(new ResetButton("Reset", "Virtual waist"), c(4, row, 1));
 			row++;
-			
+
 			gui.refresh();
 		});
 	}
-	
+
+	@ThreadSafe
+	public void refreshAll() {
+		java.awt.EventQueue.invokeLater(() -> {
+			labels.forEach((joint, label) -> {
+				label.setText(StringUtils.prettyNumber(server.humanPoseProcessor.getSkeletonConfig(joint) * 100, 0));
+			});
+		});
+	}
+
 	private void change(String joint, float diff) {
 		float current = server.humanPoseProcessor.getSkeletonConfig(joint);
 		server.humanPoseProcessor.setSkeletonConfig(joint, current + diff);
 		server.saveConfig();
 		labels.get(joint).setText(StringUtils.prettyNumber((current + diff) * 100, 0));
 	}
-	
+
 	private void reset(String joint) {
 		server.humanPoseProcessor.resetSkeletonConfig(joint);
 		server.saveConfig();
@@ -125,17 +201,17 @@ public class SkeletonConfig extends EJBag {
 			});
 		}
 	}
-	
+
 	private class SkeletonLabel extends JLabel {
-		
+
 		public SkeletonLabel(String joint) {
 			super(StringUtils.prettyNumber(server.humanPoseProcessor.getSkeletonConfig(joint) * 100, 0));
 			labels.put(joint, this);
 		}
 	}
-	
+
 	private class AdjButton extends JButton {
-		
+
 		public AdjButton(String text, String joint, float diff) {
 			super(text);
 			addMouseListener(new MouseInputAdapter() {
@@ -146,9 +222,9 @@ public class SkeletonConfig extends EJBag {
 			});
 		}
 	}
-	
+
 	private class ResetButton extends JButton {
-		
+
 		public ResetButton(String text, String joint) {
 			super(text);
 			addMouseListener(new MouseInputAdapter() {
@@ -159,9 +235,9 @@ public class SkeletonConfig extends EJBag {
 			});
 		}
 	}
-	
+
 	private class TimedResetButton extends JButton {
-		
+
 		public TimedResetButton(String text, String joint) {
 			super(text);
 			addMouseListener(new MouseInputAdapter() {

src/main/java/io/eiren/gui/SkeletonList.java

@@ -18,6 +18,8 @@ import io.eiren.vr.processor.HumanSkeleton;
 import io.eiren.vr.processor.TransformNode;
 
 public class SkeletonList extends EJBag {
+	
+	private static final long UPDATE_DELAY = 50;
 
 	Quaternion q = new Quaternion();
 	Vector3f v = new Vector3f();
@@ -26,6 +28,7 @@ public class SkeletonList extends EJBag {
 	private final VRServer server;
 	private final VRServerGUI gui;
 	private final List<NodeStatus> nodes = new FastList<>();
+	private long lastUpdate = 0;
 	
 	public SkeletonList(VRServer server, VRServerGUI gui) {
 		super();
@@ -62,6 +65,9 @@ public class SkeletonList extends EJBag {
 	
 	@VRServerThread
 	public void updateBones() {
+		if(lastUpdate + UPDATE_DELAY > System.currentTimeMillis())
+			return;
+		lastUpdate = System.currentTimeMillis();
 		java.awt.EventQueue.invokeLater(() -> {
 			for(int i = 0; i < nodes.size(); ++i)
 				nodes.get(i).update();

src/main/java/io/eiren/gui/TrackersList.java

@@ -1,6 +1,7 @@
 package io.eiren.gui;
 
 import java.awt.Color;
+import java.awt.Font;
 import java.awt.GridBagConstraints;
 import java.awt.event.ActionEvent;
 import java.awt.event.ActionListener;
@@ -34,14 +35,17 @@ import io.eiren.vr.trackers.TrackerWithTPS;
 
 public class TrackersList extends EJBox {
 	
+	private static final long UPDATE_DELAY = 50;
+	
 	Quaternion q = new Quaternion();
 	Vector3f v = new Vector3f();
 	float[] angles = new float[3];
 	
-	private List<TrackerRow> trackers = new FastList<>();
+	private List<TrackerPanel> trackers = new FastList<>();
 	
 	private final VRServer server;
 	private final VRServerGUI gui;
+	private long lastUpdate = 0;
 
 	public TrackersList(VRServer server, VRServerGUI gui) {
 		super(BoxLayout.PAGE_AXIS);
@@ -61,16 +65,42 @@ public class TrackersList extends EJBox {
 		
 		Class<? extends Tracker> currentClass = null;
 		
+		EJBox line = null;
+		boolean first = true;
+		
 		for(int i = 0; i < trackers.size(); ++i) {
-			add(Box.createVerticalStrut(3));
-			TrackerRow tr = trackers.get(i);
+			TrackerPanel tr = trackers.get(i);
 			Tracker t = tr.t;
+			if(t instanceof ReferenceAdjustedTracker)
+				t = ((ReferenceAdjustedTracker<?>) t).getTracker();
 			if(currentClass != t.getClass()) {
 				currentClass = t.getClass();
-				add(new JLabel(currentClass.getSimpleName()));
+				if(line != null)
+					line.add(Box.createHorizontalGlue());
+				line = null;
+				line = new EJBox(BoxLayout.LINE_AXIS);
+				line.add(Box.createHorizontalGlue());
+				JLabel nameLabel;
+				line.add(nameLabel = new JLabel(currentClass.getSimpleName()));
+				nameLabel.setFont(nameLabel.getFont().deriveFont(Font.BOLD));
+				line.add(Box.createHorizontalGlue());
+				add(line);
+				line = null;
+			}
+			
+			if(line == null) {
+				line = new EJBox(BoxLayout.LINE_AXIS);
+				add(Box.createVerticalStrut(3));
+				add(line);
+				first = true;
+			} else {
+				line.add(Box.createHorizontalStrut(3));
+				first = false;
 			}
-
 			tr.build();
+			line.add(tr);
+			if(!first)
+				line = null;
 		}
 		validate();
 		gui.refresh();
@@ -78,6 +108,9 @@ public class TrackersList extends EJBox {
 	
 	@ThreadSafe
 	public void updateTrackers() {
+		if(lastUpdate + UPDATE_DELAY > System.currentTimeMillis())
+			return;
+		lastUpdate = System.currentTimeMillis();
 		java.awt.EventQueue.invokeLater(() -> {
 			for(int i = 0; i < trackers.size(); ++i)
 				trackers.get(i).update();
@@ -87,12 +120,12 @@ public class TrackersList extends EJBox {
 	@ThreadSafe
 	public void newTrackerAdded(Tracker t) {
 		java.awt.EventQueue.invokeLater(() -> {
-			trackers.add(new TrackerRow(t));
+			trackers.add(new TrackerPanel(t));
 			build();
 		});
 	}
 	
-	private class TrackerRow extends EJBag {
+	private class TrackerPanel extends EJBag {
 		
 		final Tracker t;
 		JLabel position;
@@ -102,24 +135,37 @@ public class TrackersList extends EJBox {
 		JLabel bat;
 		JLabel ping;
 		JLabel raw;
+		JLabel rawMag;
+		JLabel calibration;
+		JLabel magAccuracy;
 		JLabel adj;
 		JLabel adjYaw;
+		JLabel correction;
 		
 		@AWTThread
-		public TrackerRow(Tracker t) {
+		public TrackerPanel(Tracker t) {
 			super();
 			this.t = t;
 		}
 
 		@SuppressWarnings("unchecked")
 		@AWTThread
-		public TrackerRow build() {
+		public TrackerPanel build() {
+			int row = 0;
+			
+			Tracker realTracker = t;
+			if(t instanceof ReferenceAdjustedTracker)
+				realTracker = ((ReferenceAdjustedTracker<? extends Tracker>) t).getTracker();
 			removeAll();
-			add(new JLabel(t.getName()), s(c(0, 0, 0, GridBagConstraints.FIRST_LINE_START), 4, 1));
+			JLabel nameLabel;
+			add(nameLabel = new JLabel(t.getName()), s(c(0, row, 0, GridBagConstraints.FIRST_LINE_START), 4, 1));
+			nameLabel.setFont(nameLabel.getFont().deriveFont(Font.BOLD));
+			row++;
+			
 			if(t.userEditable()) {
 				TrackerConfig cfg = server.getTrackerConfig(t);
 				JComboBox<String> desSelect;
-				add(desSelect = new JComboBox<>(), s(c(0, 1, 0, GridBagConstraints.FIRST_LINE_START), 2, 1));
+				add(desSelect = new JComboBox<>(), s(c(0, row, 0, GridBagConstraints.FIRST_LINE_START), 2, 1));
 				for(TrackerBodyPosition p : TrackerBodyPosition.values) {
 					desSelect.addItem(p.name());
 				}
@@ -136,14 +182,11 @@ public class TrackersList extends EJBox {
 						server.trackerUpdated(t);
 					}
 				});
-				Tracker realTracker = t;
-				if(t instanceof ReferenceAdjustedTracker<?>)
-					realTracker = ((ReferenceAdjustedTracker<? extends Tracker>) t).getTracker();
 				if(realTracker instanceof IMUTracker) {
 					IMUTracker imu = (IMUTracker) realTracker;
 					TrackerMountingRotation tr = imu.getMountingRotation();
 					JComboBox<String> mountSelect;
-					add(mountSelect = new JComboBox<>(), s(c(2, 1, 0, GridBagConstraints.FIRST_LINE_START), 2, 1));
+					add(mountSelect = new JComboBox<>(), s(c(2, row, 0, GridBagConstraints.FIRST_LINE_START), 2, 1));
 					for(TrackerMountingRotation p : TrackerMountingRotation.values) {
 						mountSelect.addItem(p.name());
 					}
@@ -161,31 +204,49 @@ public class TrackersList extends EJBox {
 						}
 					});
 				}
+				row++;
 			}
-			add(new JLabel("Rotation"), c(0, 2, 0, GridBagConstraints.FIRST_LINE_START));
-			add(new JLabel("Postion"), c(1, 2, 0, GridBagConstraints.FIRST_LINE_START));
-			add(new JLabel("Ping"), c(2, 2, 0, GridBagConstraints.FIRST_LINE_START));
-			add(new JLabel("TPS"), c(3, 2, 0, GridBagConstraints.FIRST_LINE_START));
-			add(rotation = new JLabel("0 0 0"), c(0, 3, 0, GridBagConstraints.FIRST_LINE_START));
-			add(position = new JLabel("0 0 0"), c(1, 3, 0, GridBagConstraints.FIRST_LINE_START));
-			add(ping = new JLabel(""), c(2, 3, 0, GridBagConstraints.FIRST_LINE_START));
-			if(t instanceof TrackerWithTPS) {
-				add(tps = new JLabel("0"), c(3, 3, 0, GridBagConstraints.FIRST_LINE_START));
+			add(new JLabel("Rotation"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(new JLabel("Position"), c(1, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(new JLabel("Ping"), c(2, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(new JLabel("TPS"), c(3, row, 0, GridBagConstraints.FIRST_LINE_START));
+			row++;
+			add(rotation = new JLabel("0 0 0"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(position = new JLabel("0 0 0"), c(1, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(ping = new JLabel(""), c(2, row, 0, GridBagConstraints.FIRST_LINE_START));
+			if(realTracker instanceof TrackerWithTPS) {
+				add(tps = new JLabel("0"), c(3, row, 0, GridBagConstraints.FIRST_LINE_START));
 			} else {
-				add(new JLabel(""), c(3, 3, 0, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel(""), c(3, row, 0, GridBagConstraints.FIRST_LINE_START));
+			}
+			row++;
+			add(new JLabel("Status:"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(status = new JLabel(t.getStatus().toString().toLowerCase()), c(1, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(new JLabel("Battery:"), c(2, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(bat = new JLabel("0"), c(3, row, 0, GridBagConstraints.FIRST_LINE_START));
+			row++;
+			add(new JLabel("Raw:"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+			add(raw = new JLabel("0 0 0"), s(c(1, row, 0, GridBagConstraints.FIRST_LINE_START), 3, 1));
+			row++;
+			if(realTracker instanceof IMUTracker) {
+				add(new JLabel("Raw mag:"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(rawMag = new JLabel("0 0 0"), s(c(1, row, 0, GridBagConstraints.FIRST_LINE_START), 3, 1));
+				row++;
+				add(new JLabel("Cal:"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(calibration = new JLabel("0"), c(1, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel("Mag acc:"), c(2, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(magAccuracy = new JLabel("0°"), c(3, row, 0, GridBagConstraints.FIRST_LINE_START));
+				row++;
+				add(new JLabel("Correction:"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(correction = new JLabel("0 0 0"), s(c(1, row, 0, GridBagConstraints.FIRST_LINE_START), 3, 1));
+				row++;
 			}
-			add(new JLabel("Status:"), c(0, 4, 0, GridBagConstraints.FIRST_LINE_START));
-			add(status = new JLabel(t.getStatus().toString().toLowerCase()), c(1, 4, 0, GridBagConstraints.FIRST_LINE_START));
-			add(new JLabel("Battery:"), c(2, 4, 0, GridBagConstraints.FIRST_LINE_START));
-			add(bat = new JLabel("0"), c(3, 4, 0, GridBagConstraints.FIRST_LINE_START));
-			add(new JLabel("Raw:"), c(0, 5, 0, GridBagConstraints.FIRST_LINE_START));
-			add(raw = new JLabel("0 0 0 0"), s(c(1, 5, 0, GridBagConstraints.FIRST_LINE_START), 3, 1));
 			
-			if(t instanceof ReferenceAdjustedTracker) {
-				add(new JLabel("Adj:"), c(0, 6, 0, GridBagConstraints.FIRST_LINE_START));
-				add(adj = new JLabel("0 0 0 0"), c(1, 6, 0, GridBagConstraints.FIRST_LINE_START));
-				add(new JLabel("AdjY:"), c(2, 6, 0, GridBagConstraints.FIRST_LINE_START));
-				add(adjYaw = new JLabel("0 0 0 0"), c(3, 6, 0, GridBagConstraints.FIRST_LINE_START));
+			if(t instanceof ReferenceAdjustedTracker) {	
+				add(new JLabel("Adj:"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(adj = new JLabel("0 0 0 0"), c(1, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel("AdjY:"), c(2, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(adjYaw = new JLabel("0 0 0 0"), c(3, row, 0, GridBagConstraints.FIRST_LINE_START));
 			}
 
 			setBorder(BorderFactory.createLineBorder(new Color(0x663399), 4, true));
@@ -198,6 +259,9 @@ public class TrackersList extends EJBox {
 		public void update() {
 			if(position == null)
 				return;
+			Tracker realTracker = t;
+			if(t instanceof ReferenceAdjustedTracker)
+				realTracker = ((ReferenceAdjustedTracker<? extends Tracker>) t).getTracker();
 			t.getRotation(q);
 			t.getPosition(v);
 			q.toAngles(angles);
@@ -210,42 +274,54 @@ public class TrackersList extends EJBox {
 					+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
 			status.setText(t.getStatus().toString().toLowerCase());
 			
-			if(t instanceof TrackerWithTPS) {
-				tps.setText(StringUtils.prettyNumber(((TrackerWithTPS) t).getTPS(), 1));
+			if(realTracker instanceof TrackerWithTPS) {
+				tps.setText(StringUtils.prettyNumber(((TrackerWithTPS) realTracker).getTPS(), 1));
 			}
-			if(t instanceof TrackerWithBattery)
-				bat.setText(StringUtils.prettyNumber(((TrackerWithBattery) t).getBatteryVoltage(), 1));
-			Tracker t2 = t;
+			if(realTracker instanceof TrackerWithBattery)
+				bat.setText(StringUtils.prettyNumber(((TrackerWithBattery) realTracker).getBatteryVoltage(), 1));
 			if(t instanceof ReferenceAdjustedTracker) {
-				t2 = ((ReferenceAdjustedTracker<Tracker>) t).getTracker();
-				((ReferenceAdjustedTracker<Tracker>) t).adjustmentAttachment.toAngles(angles);
+				((ReferenceAdjustedTracker<Tracker>) t).attachmentFix.toAngles(angles);
 				adj.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
 						+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
 						+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
-				((ReferenceAdjustedTracker<Tracker>) t).adjustmentYaw.toAngles(angles);
+				((ReferenceAdjustedTracker<Tracker>) t).yawFix.toAngles(angles);
 				adjYaw.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
 						+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
 						+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
 			}
-			if(t2 instanceof IMUTracker)
-				ping.setText(String.valueOf(((IMUTracker) t2).ping));
-			t2.getRotation(q);
-			raw.setText(StringUtils.prettyNumber(q.getX(), 4)
-					+ " " + StringUtils.prettyNumber(q.getY(), 4)
-					+ " " + StringUtils.prettyNumber(q.getZ(), 4)
-					+ " " + StringUtils.prettyNumber(q.getW(), 4));
+			if(realTracker instanceof IMUTracker) {
+				ping.setText(String.valueOf(((IMUTracker) realTracker).ping));
+			}
+			realTracker.getRotation(q);
+			q.toAngles(angles);
+			raw.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
+					+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
+					+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
+			if(realTracker instanceof IMUTracker) {
+				((IMUTracker) realTracker).rotMagQuaternion.toAngles(angles);
+				rawMag.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
+						+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
+						+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
+				calibration.setText(((IMUTracker) realTracker).calibrationStatus + " / " + ((IMUTracker) realTracker).magCalibrationStatus);
+				magAccuracy.setText(StringUtils.prettyNumber(((IMUTracker) realTracker).magnetometerAccuracy * FastMath.RAD_TO_DEG, 1) + "°");
+				((IMUTracker) realTracker).getCorrection(q);
+				q.toAngles(angles);
+				correction.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
+						+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
+						+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
+			}
 		}
 	}
 	
 	private static int getTrackerSort(Tracker t) {
-		if(t instanceof HMDTracker)
-			return 0;
-		if(t instanceof ComputedTracker)
-			return 1;
-		if(t instanceof IMUTracker)
-			return 2;
 		if(t instanceof ReferenceAdjustedTracker)
-			return 5;
+			t = ((ReferenceAdjustedTracker<?>) t).getTracker();
+		if(t instanceof IMUTracker)
+			return 0;
+		if(t instanceof HMDTracker)
+			return 100;
+		if(t instanceof ComputedTracker)
+			return 200;
 		return 1000;
 	}
 }

src/main/java/io/eiren/gui/VRServerGUI.java

@@ -8,11 +8,13 @@ import io.eiren.util.StringUtils;
 import io.eiren.util.ann.AWTThread;
 import io.eiren.vr.Main;
 import io.eiren.vr.VRServer;
-import io.eiren.vr.bridge.NamedPipeVRBridge;
 
 import java.awt.Component;
 import java.awt.Container;
+import java.awt.Dimension;
 import java.awt.Font;
+import java.awt.event.ActionEvent;
+import java.awt.event.ActionListener;
 import java.awt.event.MouseEvent;
 
 import static javax.swing.BoxLayout.PAGE_AXIS;
@@ -33,6 +35,11 @@ public class VRServerGUI extends JFrame {
 	@AWTThread
 	public VRServerGUI(VRServer server) {
 		super("SlimeVR Server (" + Main.VERSION + ")");
+		try {
+			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+		} catch(Exception e) {
+			e.printStackTrace();
+		}
 		//increaseFontSize();
 		
 		this.server = server;
@@ -50,6 +57,8 @@ public class VRServerGUI extends JFrame {
 		
 		add(scroll = new JScrollPane(pane = new EJBox(PAGE_AXIS), ScrollPaneConstants.VERTICAL_SCROLLBAR_AS_NEEDED, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED));
 		
+		setMinimumSize(new Dimension(1280, 1080));
+		
 		build();
 	}
 	
@@ -59,7 +68,7 @@ public class VRServerGUI extends JFrame {
 	
 	public void refresh() {
 		// Pack and display
-		pack();
+		//pack();
 		setVisible(true);
 		java.awt.EventQueue.invokeLater(new Runnable() {
 			@Override
@@ -73,8 +82,6 @@ public class VRServerGUI extends JFrame {
 	private void build() {
 		pane.removeAll();
 		
-		NamedPipeVRBridge npvb = server.getVRBridge(NamedPipeVRBridge.class);
-		
 		pane.add(new EJBox(LINE_AXIS) {{
 			setBorder(new EmptyBorder(i(5)));
 			
@@ -87,19 +94,16 @@ public class VRServerGUI extends JFrame {
 					}
 				});
 			}});
+			add(Box.createHorizontalStrut(10));
+			add(new JButton("Fast Reset") {{
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						resetFast();
+					}
+				});
+			}});
 			add(Box.createHorizontalGlue());
-			if(npvb != null) {
-				add(new JButton(npvb.isOneTrackerMode() ? "Trackers: 1" : "Trackers: 3") {{
-					addMouseListener(new MouseInputAdapter() {
-						@Override
-						public void mouseClicked(MouseEvent e) {
-							npvb.setSpawnOneTracker(!npvb.isOneTrackerMode());
-							setText(npvb.isOneTrackerMode() ? "Trackers: 1" : "Trackers: 3");
-						}
-					});
-				}});
-				add(Box.createHorizontalStrut(10));
-			}
 			add(new JButton("GUI Zoom (x" + StringUtils.prettyNumber(zoom, 2) + ")") {{
 				addMouseListener(new MouseInputAdapter() {
 					@Override
@@ -126,8 +130,57 @@ public class VRServerGUI extends JFrame {
 			setBorder(new EmptyBorder(i(5)));
 			add(new EJBox(PAGE_AXIS) {{
 				setAlignmentY(TOP_ALIGNMENT);
+				add(new JLabel("SteamVR Trackers:"));
+				JComboBox<String> trackersSelect;
+				add(trackersSelect = new JComboBox<>());
+				trackersSelect.addItem("Waist");
+				trackersSelect.addItem("Waist + Legs");
+				trackersSelect.addItem("Waist + Legs + Chest");
+				trackersSelect.addItem("Waist + Legs + Knees");
+				trackersSelect.addItem("Waist + Legs + Chest + Knees");
+				switch(server.config.getInt("virtualtrackers", 3)) {
+				case 1:
+					trackersSelect.setSelectedIndex(0);
+					break;
+				case 3:
+					trackersSelect.setSelectedIndex(1);
+					break;
+				case 4:
+					trackersSelect.setSelectedIndex(2);
+					break;
+				case 5:
+					trackersSelect.setSelectedIndex(3);
+					break;
+				case 6:
+					trackersSelect.setSelectedIndex(4);
+					break;
+				}
+				trackersSelect.addActionListener(new ActionListener() {
+					@Override
+					public void actionPerformed(ActionEvent e) {
+						switch(trackersSelect.getSelectedIndex()) {
+						case 0:
+							server.config.setProperty("virtualtrackers", 1);
+							break;
+						case 1:
+							server.config.setProperty("virtualtrackers", 3);
+							break;
+						case 2:
+							server.config.setProperty("virtualtrackers", 4);
+							break;
+						case 3:
+							server.config.setProperty("virtualtrackers", 5);
+							break;
+						case 4:
+							server.config.setProperty("virtualtrackers", 6);
+							break;
+						}
+						server.saveConfig();
+					}
+				});
+				add(Box.createHorizontalStrut(10));
 				
-				add(new JLabel("Trackers"));
+				add(new JLabel("Trackers list"));
 				add(trackersList);
 				add(Box.createVerticalGlue());
 			}});
@@ -193,6 +246,11 @@ public class VRServerGUI extends JFrame {
 		}
 	}
 	
+	@AWTThread
+	private void resetFast() {
+		server.resetTrackersYaw();
+	}
+	
 	@AWTThread
 	private void reset() {
 		ButtonTimer.runTimer(resetButton, 3, "RESET", server::resetTrackers);

src/main/java/io/eiren/gui/autobone/AutoBone.java

@@ -0,0 +1,512 @@
+package io.eiren.gui.autobone;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.function.Consumer;
+
+import com.jme3.math.Vector3f;
+
+import io.eiren.util.ann.ThreadSafe;
+import io.eiren.util.logging.LogManager;
+import io.eiren.util.collections.FastList;
+import io.eiren.vr.VRServer;
+import io.eiren.vr.processor.HumanSkeleton;
+import io.eiren.vr.processor.HumanSkeletonWithLegs;
+import io.eiren.vr.processor.HumanSkeletonWithWaist;
+import io.eiren.vr.processor.TrackerBodyPosition;
+import io.eiren.vr.trackers.TrackerUtils;
+
+public class AutoBone {
+
+	public class Epoch {
+
+		public final int epoch;
+		public final float epochError;
+
+		public Epoch(int epoch, float epochError) {
+			this.epoch = epoch;
+			this.epochError = epochError;
+		}
+
+		@Override
+		public String toString() {
+			return "Epoch: " + epoch + ", Epoch Error: " + epochError;
+		}
+	}
+
+	public int cursorIncrement = 1;
+
+	public int minDataDistance = 2;
+	public int maxDataDistance = 32;
+
+	public int numEpochs = 5;
+
+	public float initialAdjustRate = 2.5f;
+	public float adjustRateDecay = 1.01f;
+
+	public float slideErrorFactor = 1.0f;
+	public float offsetErrorFactor = 0.0f;
+	public float proportionErrorFactor = 0.2f;
+	public float heightErrorFactor = 0.1f;
+	public float positionErrorFactor = 0.0f;
+	public float positionOffsetErrorFactor = 0.0f;
+
+	/*
+	public float NECK_WAIST_RATIO_MIN = 0.2f;
+	public float NECK_WAIST_RATIO_MAX = 0.3f;
+
+	public float CHEST_WAIST_RATIO_MIN = 0.35f;
+	public float CHEST_WAIST_RATIO_MAX = 0.6f;
+
+	public float HIP_MIN = 0.08f;
+	public float HIP_WAIST_RATIO_MAX = 0.4f;
+
+	// Human average is 1.1235 (SD 0.07)
+	public float LEG_WAIST_RATIO_MIN = 1.1235f - ((0.07f * 3f) + 0.05f);
+	public float LEG_WAIST_RATIO_MAX = 1.1235f + ((0.07f * 3f) + 0.05f);
+
+	public float KNEE_LEG_RATIO_MIN = 0.42f;
+	public float KNEE_LEG_RATIO_MAX = 0.58f;
+	*/
+
+	protected final VRServer server;
+
+	protected HumanSkeletonWithLegs skeleton = null;
+
+	// This is filled by reloadConfigValues()
+	public final HashMap<String, Float> configs = new HashMap<String, Float>();
+	public final HashMap<String, Float> staticConfigs = new HashMap<String, Float>();
+
+	public final FastList<String> heightConfigs = new FastList<String>(new String[] {
+		"Neck",
+		"Waist",
+		"Legs length"
+	});
+
+	public AutoBone(VRServer server) {
+		this.server = server;
+
+		reloadConfigValues();
+
+		server.addSkeletonUpdatedCallback(this::skeletonUpdated);
+	}
+
+	public void reloadConfigValues() {
+		// Load waist configs
+		staticConfigs.put("Head", server.config.getFloat("body.headShift", HumanSkeletonWithWaist.HEAD_SHIFT_DEFAULT));
+		staticConfigs.put("Neck", server.config.getFloat("body.neckLength", HumanSkeletonWithWaist.NECK_LENGTH_DEFAULT));
+		configs.put("Waist", server.config.getFloat("body.waistDistance", 0.85f));
+
+		if (server.config.getBoolean("autobone.forceChestTracker", false) ||
+		TrackerUtils.findTrackerForBodyPosition(server.getAllTrackers(), TrackerBodyPosition.CHEST) != null) {
+			// If force enabled or has a chest tracker
+			configs.put("Chest", server.config.getFloat("body.chestDistance", 0.42f));
+		} else {
+			// Otherwise, make sure it's not used
+			configs.remove("Chest");
+			staticConfigs.put("Chest", server.config.getFloat("body.chestDistance", 0.42f));
+		}
+
+		// Load leg configs
+		staticConfigs.put("Hips width", server.config.getFloat("body.hipsWidth", HumanSkeletonWithLegs.HIPS_WIDTH_DEFAULT));
+		configs.put("Legs length", server.config.getFloat("body.legsLength", 0.84f));
+		configs.put("Knee height", server.config.getFloat("body.kneeHeight", 0.42f));
+	}
+
+	@ThreadSafe
+	public void skeletonUpdated(HumanSkeleton newSkeleton) {
+		if (newSkeleton instanceof HumanSkeletonWithLegs) {
+			skeleton = (HumanSkeletonWithLegs)newSkeleton;
+			applyConfigToSkeleton(newSkeleton);
+			LogManager.log.info("[AutoBone] Received updated skeleton");
+		}
+	}
+
+	public void applyConfig() {
+		if (!applyConfigToSkeleton(skeleton)) {
+			// Unable to apply to skeleton, save directly
+			saveConfigs();
+		}
+	}
+
+	public boolean applyConfigToSkeleton(HumanSkeleton skeleton) {
+		if (skeleton == null) {
+			return false;
+		}
+
+		for (Entry<String, Float> entry : configs.entrySet()) {
+			skeleton.setSkeletonConfig(entry.getKey(), entry.getValue());
+		}
+
+		server.saveConfig();
+
+		LogManager.log.info("[AutoBone] Configured skeleton bone lengths");
+		return true;
+	}
+
+	private void setConfig(String name, String path) {
+		Float value = configs.get(name);
+		if (value != null) {
+			server.config.setProperty(path, value);
+		}
+	}
+
+	// This doesn't require a skeleton, therefore can be used if skeleton is null
+	public void saveConfigs() {
+		setConfig("Head", "body.headShift");
+		setConfig("Neck", "body.neckLength");
+		setConfig("Waist", "body.waistDistance");
+		setConfig("Chest", "body.chestDistance");
+		setConfig("Hips width", "body.hipsWidth");
+		setConfig("Legs length", "body.legsLength");
+		setConfig("Knee height", "body.kneeHeight");
+
+		server.saveConfig();
+	}
+
+	public Float getConfig(String config) {
+		Float configVal = configs.get(config);
+		return configVal != null ? configVal : staticConfigs.get(config);
+	}
+
+	public Float getConfig(String config, Map<String, Float> configs, Map<String, Float> configsAlt) {
+		if (configs == null) {
+			throw new NullPointerException("Argument \"configs\" must not be null");
+		}
+
+		Float configVal = configs.get(config);
+		return configVal != null || configsAlt == null ? configVal : configsAlt.get(config);
+	}
+
+	public float getHeight(Map<String, Float> configs) {
+		return getHeight(configs, null);
+	}
+
+	public float getHeight(Map<String, Float> configs, Map<String, Float> configsAlt) {
+		float height = 0f;
+
+		for (String heightConfig : heightConfigs) {
+			Float length = getConfig(heightConfig, configs, configsAlt);
+			if (length != null) {
+				height += length;
+			}
+		}
+
+		return height;
+	}
+
+	public float getLengthSum(Map<String, Float> configs) {
+		float length = 0f;
+
+		for (float boneLength : configs.values()) {
+			length += boneLength;
+		}
+
+		return length;
+	}
+
+	public float getMaxHmdHeight(PoseFrame[] frames) {
+		float maxHeight = 0f;
+		for (PoseFrame frame : frames) {
+			if (frame.rootPos.y > maxHeight) {
+				maxHeight = frame.rootPos.y;
+			}
+		}
+		return maxHeight;
+	}
+
+	public void processFrames(PoseFrame[] frames) {
+		processFrames(frames, -1f);
+	}
+
+	public void processFrames(PoseFrame[] frames, Consumer<Epoch> epochCallback) {
+		processFrames(frames, -1f, epochCallback);
+	}
+
+	public void processFrames(PoseFrame[] frames, float targetHeight) {
+		processFrames(frames, true, targetHeight);
+	}
+
+	public void processFrames(PoseFrame[] frames, float targetHeight, Consumer<Epoch> epochCallback) {
+		processFrames(frames, true, targetHeight, epochCallback);
+	}
+
+	public float processFrames(PoseFrame[] frames, boolean calcInitError, float targetHeight) {
+		return processFrames(frames, calcInitError, targetHeight, null);
+	}
+
+	public float processFrames(PoseFrame[] frames, boolean calcInitError, float targetHeight, Consumer<Epoch> epochCallback) {
+		SimpleSkeleton skeleton1 = new SimpleSkeleton(configs, staticConfigs);
+		SimpleSkeleton skeleton2 = new SimpleSkeleton(configs, staticConfigs);
+
+		// If target height isn't specified, auto-detect
+		if (targetHeight < 0f) {
+			if (skeleton != null) {
+				targetHeight = getHeight(skeleton.getSkeletonConfig());
+				LogManager.log.warning("[AutoBone] Target height loaded from skeleton (Make sure you reset before running!): " + targetHeight);
+			} else {
+				float hmdHeight = getMaxHmdHeight(frames);
+				if (hmdHeight <= 0.50f) {
+					LogManager.log.warning("[AutoBone] Max headset height detected (Value seems too low, did you not stand up straight while measuring?): " + hmdHeight);
+				} else {
+					LogManager.log.info("[AutoBone] Max headset height detected: " + hmdHeight);
+				}
+
+				// Estimate target height from HMD height
+				targetHeight = hmdHeight;
+			}
+		}
+
+		for (int epoch = calcInitError ? -1 : 0; epoch < numEpochs; epoch++) {
+			float sumError = 0f;
+			int errorCount = 0;
+
+			float adjustRate = epoch >= 0 ? (float)(initialAdjustRate / Math.pow(adjustRateDecay, epoch)) : 0f;
+
+			for (int cursorOffset = minDataDistance; cursorOffset <= maxDataDistance && cursorOffset < frames.length; cursorOffset++) {
+				for (int frameCursor = 0; frameCursor < frames.length - cursorOffset; frameCursor += cursorIncrement) {
+					PoseFrame frame1 = frames[frameCursor];
+					PoseFrame frame2 = frames[frameCursor + cursorOffset];
+
+					// If there's missing data, throw an exception
+					if (frame1 == null || frame2 == null) {
+						throw new NullPointerException("Frames are missing from processing data");
+					}
+
+					skeleton1.setSkeletonConfigs(configs);
+					skeleton2.setSkeletonConfigs(configs);
+
+					skeleton1.setPoseFromFrame(frame1);
+					skeleton2.setPoseFromFrame(frame2);
+
+					float totalLength = getLengthSum(configs);
+					float curHeight = getHeight(configs, staticConfigs);
+					float errorDeriv = getErrorDeriv(frame1, frame2, skeleton1, skeleton2, targetHeight - curHeight);
+					float error = errorFunc(errorDeriv);
+
+					// In case of fire
+					if (Float.isNaN(error) || Float.isInfinite(error)) {
+						// Extinguish
+						LogManager.log.warning("[AutoBone] Error value is invalid, resetting variables to recover");
+						reloadConfigValues();
+
+						// Reset error sum values
+						sumError = 0f;
+						errorCount = 0;
+
+						// Continue on new data
+						continue;
+					}
+
+					// Store the error count for logging purposes
+					sumError += errorDeriv;
+					errorCount++;
+
+					float adjustVal = error * adjustRate;
+
+					for (Entry<String, Float> entry : configs.entrySet()) {
+						// Skip adjustment if the epoch is before starting (for logging only)
+						if (epoch < 0) {
+							break;
+						}
+
+						float originalLength = entry.getValue();
+
+						// Try positive and negative adjustments
+						boolean isHeightVar = heightConfigs.contains(entry.getKey());
+						float minError = errorDeriv;
+						float finalNewLength = -1f;
+						for (int i = 0; i < 2; i++) {
+							// Scale by the ratio for smooth adjustment and more stable results
+							float curAdjustVal = ((i == 0 ? adjustVal : -adjustVal) * originalLength) / totalLength;
+							float newLength = originalLength + curAdjustVal;
+
+							// No small or negative numbers!!! Bad algorithm!
+							if (newLength < 0.01f) {
+								continue;
+							}
+
+							updateSkeletonBoneLength(skeleton1, skeleton2, entry.getKey(), newLength);
+
+							float newHeight = isHeightVar ? curHeight + curAdjustVal : curHeight;
+							float newErrorDeriv = getErrorDeriv(frame1, frame2, skeleton1, skeleton2, targetHeight - newHeight);
+
+							if (newErrorDeriv < minError) {
+								minError = newErrorDeriv;
+								finalNewLength = newLength;
+							}
+						}
+
+						if (finalNewLength > 0f) {
+							entry.setValue(finalNewLength);
+						}
+
+						// Reset the length to minimize bias in other variables, it's applied later
+						updateSkeletonBoneLength(skeleton1, skeleton2, entry.getKey(), originalLength);
+					}
+				}
+			}
+
+			// Calculate average error over the epoch
+			float avgError = errorCount > 0 ? sumError / errorCount : -1f;
+			LogManager.log.info("[AutoBone] Epoch " + (epoch + 1) + " average error: " + avgError);
+
+			if (epochCallback != null) {
+				epochCallback.accept(new Epoch(epoch + 1, avgError));
+			}
+		}
+
+		float finalHeight = getHeight(configs, staticConfigs);
+		LogManager.log.info("[AutoBone] Target height: " + targetHeight + " New height: " + finalHeight);
+
+		return Math.abs(finalHeight - targetHeight);
+	}
+
+	// The change in position of the ankle over time
+	protected float getSlideErrorDeriv(SimpleSkeleton skeleton1, SimpleSkeleton skeleton2) {
+		float slideLeft = skeleton1.getLeftFootPos().distance(skeleton2.getLeftFootPos());
+		float slideRight = skeleton1.getRightFootPos().distance(skeleton2.getRightFootPos());
+
+		// Divide by 4 to halve and average, it's halved because you want to approach a midpoint, not the other point
+		return (slideLeft + slideRight) / 4f;
+	}
+
+	// The offset between both feet at one instant and over time
+	protected float getOffsetErrorDeriv(SimpleSkeleton skeleton1, SimpleSkeleton skeleton2) {
+		float dist1 = Math.abs(skeleton1.getLeftFootPos().y - skeleton1.getRightFootPos().y);
+		float dist2 = Math.abs(skeleton2.getLeftFootPos().y - skeleton2.getRightFootPos().y);
+
+		float dist3 = Math.abs(skeleton1.getLeftFootPos().y - skeleton2.getRightFootPos().y);
+		float dist4 = Math.abs(skeleton1.getLeftFootPos().y - skeleton2.getRightFootPos().y);
+
+		float dist5 = Math.abs(skeleton1.getLeftFootPos().y - skeleton2.getLeftFootPos().y);
+		float dist6 = Math.abs(skeleton1.getRightFootPos().y - skeleton2.getRightFootPos().y);
+
+		// Divide by 12 to halve and average, it's halved because you want to approach a midpoint, not the other point
+		return (dist1 + dist2 + dist3 + dist4 + dist5 + dist6) / 12f;
+	}
+
+	// The distance from average human proportions
+	protected float getProportionErrorDeriv(SimpleSkeleton skeleton) {
+		Float neckLength = skeleton.getSkeletonConfig("Neck");
+		Float chestLength = skeleton.getSkeletonConfig("Chest");
+		Float waistLength = skeleton.getSkeletonConfig("Waist");
+		Float legsLength = skeleton.getSkeletonConfig("Legs length");
+		Float kneeHeight = skeleton.getSkeletonConfig("Knee height");
+
+		float chestWaist = chestLength != null && waistLength != null ? Math.abs((chestLength / waistLength) - 0.5f) : 0f;
+		float legBody = legsLength != null && waistLength != null && neckLength != null ? Math.abs((legsLength / (waistLength + neckLength)) - 1.1235f) : 0f;
+		float kneeLeg = kneeHeight != null && legsLength != null ? Math.abs((kneeHeight / legsLength) - 0.5f) : 0f;
+
+		// SD of 0.07, capture 68% within range
+		float sdValue = 0.07f;
+		if (legBody <= sdValue) {
+			legBody = 0f;
+		} else {
+			legBody -= sdValue;
+		}
+
+		return (chestWaist + legBody + kneeLeg) / 3f;
+	}
+
+	// The distance of any points to the corresponding absolute position
+	protected float getPositionErrorDeriv(PoseFrame frame, SimpleSkeleton skeleton) {
+		float offset = 0f;
+		int offsetCount = 0;
+
+		if (frame.positions != null) {
+			for (Entry<String, Vector3f> entry : frame.positions.entrySet()) {
+				Vector3f nodePos = skeleton.getNodePosition(entry.getKey());
+				if (nodePos != null) {
+					offset += Math.abs(nodePos.distance(entry.getValue()));
+					offsetCount++;
+				}
+			}
+		}
+
+		return offsetCount > 0 ? offset / offsetCount : 0f;
+	}
+
+	// The difference between offset of absolute position and the corresponding point over time
+	protected float getPositionOffsetErrorDeriv(PoseFrame frame1, PoseFrame frame2, SimpleSkeleton skeleton1, SimpleSkeleton skeleton2) {
+		float offset = 0f;
+		int offsetCount = 0;
+
+		if (frame1.positions != null && frame2.positions != null) {
+			for (Entry<String, Vector3f> entry : frame1.positions.entrySet()) {
+				Vector3f frame2Pos = frame2.positions.get(entry.getKey());
+				if (frame2Pos == null) {
+					continue;
+				}
+
+				Vector3f nodePos1 = skeleton1.getNodePosition(entry.getKey());
+				if (nodePos1 == null) {
+					continue;
+				}
+
+				Vector3f nodePos2 = skeleton2.getNodePosition(entry.getKey());
+				if (nodePos2 == null) {
+					continue;
+				}
+
+				float dist1 = Math.abs(nodePos1.distance(entry.getValue()));
+				float dist2 = Math.abs(nodePos2.distance(frame2Pos));
+
+				offset += Math.abs(dist2 - dist1);
+				offsetCount++;
+			}
+		}
+
+		return offsetCount > 0 ? offset / offsetCount : 0f;
+	}
+
+	protected float getErrorDeriv(PoseFrame frame1, PoseFrame frame2, SimpleSkeleton skeleton1, SimpleSkeleton skeleton2, float heightChange) {
+		float totalError = 0f;
+		float sumWeight = 0f;
+
+		if (slideErrorFactor > 0f) {
+			totalError += getSlideErrorDeriv(skeleton1, skeleton2) * slideErrorFactor;
+			sumWeight += slideErrorFactor;
+		}
+
+		if (offsetErrorFactor > 0f) {
+			totalError += getOffsetErrorDeriv(skeleton1, skeleton2) * offsetErrorFactor;
+			sumWeight += offsetErrorFactor;
+		}
+
+		if (proportionErrorFactor > 0f) {
+			// Either skeleton will work fine, skeleton1 is used as a default
+			totalError += getProportionErrorDeriv(skeleton1) * proportionErrorFactor;
+			sumWeight += proportionErrorFactor;
+		}
+
+		if (heightErrorFactor > 0f) {
+			totalError += Math.abs(heightChange) * heightErrorFactor;
+			sumWeight += heightErrorFactor;
+		}
+
+		if (positionErrorFactor > 0f) {
+			totalError += (getPositionErrorDeriv(frame1, skeleton1) + getPositionErrorDeriv(frame2, skeleton2) / 2f) * positionErrorFactor;
+			sumWeight += positionErrorFactor;
+		}
+
+		if (positionOffsetErrorFactor > 0f) {
+			totalError += getPositionOffsetErrorDeriv(frame1, frame2, skeleton1, skeleton2) * positionOffsetErrorFactor;
+			sumWeight += positionOffsetErrorFactor;
+		}
+
+		// Minimize sliding, minimize foot height offset, minimize change in total height
+		return sumWeight > 0f ? totalError / sumWeight : 0f;
+	}
+
+	// Mean square error function
+	protected static float errorFunc(float errorDeriv) {
+		return 0.5f * (errorDeriv * errorDeriv);
+	}
+
+	protected void updateSkeletonBoneLength(SimpleSkeleton skeleton1, SimpleSkeleton skeleton2, String joint, float newLength) {
+		skeleton1.setSkeletonConfig(joint, newLength, true);
+		skeleton2.setSkeletonConfig(joint, newLength, true);
+	}
+}

src/main/java/io/eiren/gui/autobone/AutoBoneWindow.java

@@ -0,0 +1,414 @@
+package io.eiren.gui.autobone;
+
+import javax.swing.BoxLayout;
+import javax.swing.JFrame;
+import javax.swing.JLabel;
+import javax.swing.JScrollPane;
+import javax.swing.ScrollPaneConstants;
+import javax.swing.JButton;
+import javax.swing.border.EmptyBorder;
+import java.awt.event.MouseEvent;
+import java.io.File;
+import java.util.List;
+import java.util.Map.Entry;
+import java.util.concurrent.Future;
+
+import io.eiren.gui.EJBox;
+import io.eiren.gui.SkeletonConfig;
+import io.eiren.util.StringUtils;
+import io.eiren.util.ann.AWTThread;
+import io.eiren.util.collections.FastList;
+import io.eiren.util.logging.LogManager;
+import io.eiren.vr.VRServer;
+import javax.swing.event.MouseInputAdapter;
+
+import org.apache.commons.lang3.tuple.Pair;
+
+public class AutoBoneWindow extends JFrame {
+
+	private static File saveDir = new File("Recordings");
+	private static File loadDir = new File("LoadRecordings");
+
+	private EJBox pane;
+
+	private final VRServer server;
+	private final SkeletonConfig skeletonConfig;
+	private final PoseRecorder poseRecorder;
+	private final AutoBone autoBone;
+
+	private Thread recordingThread = null;
+	private Thread saveRecordingThread = null;
+	private Thread autoBoneThread = null;
+
+	private JButton saveRecordingButton;
+	private JButton adjustButton;
+	private JButton applyButton;
+
+	private JLabel processLabel;
+	private JLabel lengthsLabel;
+
+	public AutoBoneWindow(VRServer server, SkeletonConfig skeletonConfig) {
+		super("Skeleton Auto-Configuration");
+
+		this.server = server;
+		this.skeletonConfig = skeletonConfig;
+		this.poseRecorder = new PoseRecorder(server);
+		this.autoBone = new AutoBone(server);
+
+		getContentPane().setLayout(new BoxLayout(getContentPane(), BoxLayout.PAGE_AXIS));
+		add(new JScrollPane(pane = new EJBox(BoxLayout.PAGE_AXIS), ScrollPaneConstants.VERTICAL_SCROLLBAR_AS_NEEDED, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED));
+
+		build();
+	}
+
+	private String getLengthsString() {
+		boolean first = true;
+		StringBuilder configInfo = new StringBuilder("");
+		for (Entry<String, Float> entry : autoBone.configs.entrySet()) {
+			if (!first) {
+				configInfo.append(", ");
+			} else {
+				first = false;
+			}
+
+			configInfo.append(entry.getKey() + ": " + StringUtils.prettyNumber(entry.getValue() * 100f, 2));
+		}
+
+		return configInfo.toString();
+	}
+
+	private void saveRecording(PoseFrame[] frames) {
+		if (saveDir.isDirectory() || saveDir.mkdirs()) {
+			File saveRecording;
+			int recordingIndex = 1;
+			do {
+				saveRecording = new File(saveDir, "ABRecording" + recordingIndex++ + ".abf");
+			} while (saveRecording.exists());
+
+			LogManager.log.info("[AutoBone] Exporting frames to \"" + saveRecording.getPath() + "\"...");
+			if (PoseFrameIO.writeToFile(saveRecording, frames)) {
+				LogManager.log.info("[AutoBone] Done exporting! Recording can be found at \"" + saveRecording.getPath() + "\".");
+			} else {
+				LogManager.log.severe("[AutoBone] Failed to export the recording to \"" + saveRecording.getPath() + "\".");
+			}
+		} else {
+			LogManager.log.severe("[AutoBone] Failed to create the recording directory \"" + saveDir.getPath() + "\".");
+		}
+	}
+
+	private List<Pair<String, PoseFrame[]>> loadRecordings() {
+		List<Pair<String, PoseFrame[]>> recordings = new FastList<Pair<String, PoseFrame[]>>();
+		if (loadDir.isDirectory()) {
+			File[] files = loadDir.listFiles();
+			if (files != null) {
+				for (File file : files) {
+					if (file.isFile() && org.apache.commons.lang3.StringUtils.endsWithIgnoreCase(file.getName(), ".abf")) {
+						LogManager.log.info("[AutoBone] Detected recording at \"" + file.getPath() + "\", loading frames...");
+						PoseFrame[] frames = PoseFrameIO.readFromFile(file);
+
+						if (frames == null) {
+							LogManager.log.severe("Reading frames from \"" + file.getPath() + "\" failed...");
+						} else {
+							recordings.add(Pair.of(file.getName(), frames));
+						}
+					}
+				}
+			}
+		}
+
+		return recordings;
+	}
+
+	private float processFrames(PoseFrame[] frames) {
+		autoBone.reloadConfigValues();
+
+		autoBone.minDataDistance = server.config.getInt("autobone.minimumDataDistance", autoBone.minDataDistance);
+		autoBone.maxDataDistance = server.config.getInt("autobone.maximumDataDistance", autoBone.maxDataDistance);
+
+		autoBone.numEpochs = server.config.getInt("autobone.epochCount", autoBone.numEpochs);
+
+		autoBone.initialAdjustRate = server.config.getFloat("autobone.adjustRate", autoBone.initialAdjustRate);
+		autoBone.adjustRateDecay = server.config.getFloat("autobone.adjustRateDecay", autoBone.adjustRateDecay);
+
+		autoBone.slideErrorFactor = server.config.getFloat("autobone.slideErrorFactor", autoBone.slideErrorFactor);
+		autoBone.offsetErrorFactor = server.config.getFloat("autobone.offsetErrorFactor", autoBone.offsetErrorFactor);
+		autoBone.proportionErrorFactor = server.config.getFloat("autobone.proportionErrorFactor", autoBone.proportionErrorFactor);
+		autoBone.heightErrorFactor = server.config.getFloat("autobone.heightErrorFactor", autoBone.heightErrorFactor);
+		autoBone.positionErrorFactor = server.config.getFloat("autobone.positionErrorFactor", autoBone.positionErrorFactor);
+		autoBone.positionOffsetErrorFactor = server.config.getFloat("autobone.positionOffsetErrorFactor", autoBone.positionOffsetErrorFactor);
+
+		boolean calcInitError = server.config.getBoolean("autobone.calculateInitialError", true);
+		float targetHeight = server.config.getFloat("autobone.manualTargetHeight", -1f);
+		return autoBone.processFrames(frames, calcInitError, targetHeight, (epoch) -> {
+			processLabel.setText(epoch.toString());
+			lengthsLabel.setText(getLengthsString());
+		});
+	}
+
+	@AWTThread
+	private void build() {
+		pane.add(new EJBox(BoxLayout.LINE_AXIS) {{
+			setBorder(new EmptyBorder(i(5)));
+			add(new JButton("Start Recording") {{
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						// Prevent running multiple times
+						if (!isEnabled() || recordingThread != null) {
+							return;
+						}
+
+						Thread thread = new Thread() {
+							@Override
+							public void run() {
+								try {
+									if (poseRecorder.isReadyToRecord()) {
+										setText("Recording...");
+										// 1000 samples at 20 ms per sample is 20 seconds
+										int sampleCount = server.config.getInt("autobone.sampleCount", 1000);
+										long sampleRate = server.config.getLong("autobone.sampleRateMs", 20L);
+										Future<PoseFrame[]> framesFuture = poseRecorder.startFrameRecording(sampleCount, sampleRate);
+										PoseFrame[] frames = framesFuture.get();
+										LogManager.log.info("[AutoBone] Done recording!");
+
+										saveRecordingButton.setEnabled(true);
+										adjustButton.setEnabled(true);
+
+										if (server.config.getBoolean("autobone.saveRecordings", false)) {
+											setText("Saving...");
+											saveRecording(frames);
+										}
+									} else {
+										setText("Not Ready...");
+										LogManager.log.severe("[AutoBone] Unable to record...");
+										Thread.sleep(3000); // Wait for 3 seconds
+										return;
+									}
+								} catch (Exception e) {
+									setText("Recording Failed...");
+									LogManager.log.severe("[AutoBone] Failed recording!", e);
+									try {
+										Thread.sleep(3000); // Wait for 3 seconds
+									} catch (Exception e1) {
+										// Ignore
+									}
+								} finally {
+									setText("Start Recording");
+									recordingThread = null;
+								}
+							}
+						};
+
+						recordingThread = thread;
+						thread.start();
+					}
+				});
+			}});
+
+			add(saveRecordingButton = new JButton("Save Recording") {{
+				setEnabled(poseRecorder.hasRecording());
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						// Prevent running multiple times
+						if (!isEnabled() || saveRecordingThread != null) {
+							return;
+						}
+
+						Thread thread = new Thread() {
+							@Override
+							public void run() {
+								try {
+									Future<PoseFrame[]> framesFuture = poseRecorder.getFramesAsync();
+									if (framesFuture != null) {
+										setText("Waiting for Recording...");
+										PoseFrame[] frames = framesFuture.get();
+
+										if (frames.length <= 0) {
+											throw new IllegalStateException("Recording has no frames");
+										}
+
+										setText("Saving...");
+										saveRecording(frames);
+									} else {
+										setText("No Recording...");
+										LogManager.log.severe("[AutoBone] Unable to save, no recording was done...");
+										try {
+											Thread.sleep(3000); // Wait for 3 seconds
+										} catch (Exception e1) {
+											// Ignore
+										}
+										return;
+									}
+								} catch (Exception e) {
+									setText("Saving Failed...");
+									LogManager.log.severe("[AutoBone] Failed to save recording!", e);
+									try {
+										Thread.sleep(3000); // Wait for 3 seconds
+									} catch (Exception e1) {
+										// Ignore
+									}
+								} finally {
+									setText("Save Recording");
+									saveRecordingThread = null;
+								}
+							}
+						};
+
+						saveRecordingThread = thread;
+						thread.start();
+					}
+				});
+			}});
+
+			add(adjustButton = new JButton("Auto-Adjust") {{
+				// If there are files to load, enable the button
+				setEnabled(poseRecorder.hasRecording() || (loadDir.isDirectory() && loadDir.list().length > 0));
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						// Prevent running multiple times
+						if (!isEnabled() || autoBoneThread != null) {
+							return;
+						}
+
+						Thread thread = new Thread() {
+							@Override
+							public void run() {
+								try {
+									setText("Load...");
+									List<Pair<String, PoseFrame[]>> frameRecordings = loadRecordings();
+
+									if (frameRecordings.size() > 0) {
+										LogManager.log.info("[AutoBone] Done loading frames!");
+									} else {
+										Future<PoseFrame[]> framesFuture = poseRecorder.getFramesAsync();
+										if (framesFuture != null) {
+											setText("Waiting for Recording...");
+											PoseFrame[] frames = framesFuture.get();
+
+											if (frames.length <= 0) {
+												throw new IllegalStateException("Recording has no frames");
+											}
+
+											frameRecordings.add(Pair.of("<Recording>", frames));
+										} else {
+											setText("No Recordings...");
+											LogManager.log.severe("[AutoBone] No recordings found in \"" + loadDir.getPath() + "\" and no recording was done...");
+											try {
+												Thread.sleep(3000); // Wait for 3 seconds
+											} catch (Exception e1) {
+												// Ignore
+											}
+											return;
+										}
+									}
+
+									setText("Processing...");
+									LogManager.log.info("[AutoBone] Processing frames...");
+									FastList<Float> heightPercentError = new FastList<Float>(frameRecordings.size());
+									for (Pair<String, PoseFrame[]> recording : frameRecordings) {
+										LogManager.log.info("[AutoBone] Processing frames from \"" + recording.getKey() + "\"...");
+
+										heightPercentError.add(processFrames(recording.getValue()));
+										LogManager.log.info("[AutoBone] Done processing!");
+										applyButton.setEnabled(true);
+
+										//#region Stats/Values
+										Float neckLength = autoBone.getConfig("Neck");
+										Float chestLength = autoBone.getConfig("Chest");
+										Float waistLength = autoBone.getConfig("Waist");
+										Float hipWidth = autoBone.getConfig("Hips width");
+										Float legsLength = autoBone.getConfig("Legs length");
+										Float kneeHeight = autoBone.getConfig("Knee height");
+
+										float neckWaist = neckLength != null && waistLength != null ? neckLength / waistLength : 0f;
+										float chestWaist = chestLength != null && waistLength != null ? chestLength / waistLength : 0f;
+										float hipWaist = hipWidth != null && waistLength != null ? hipWidth / waistLength : 0f;
+										float legWaist = legsLength != null && waistLength != null ? legsLength / waistLength : 0f;
+										float legBody = legsLength != null && waistLength != null && neckLength != null ? legsLength / (waistLength + neckLength) : 0f;
+										float kneeLeg = kneeHeight != null && legsLength != null ? kneeHeight / legsLength : 0f;
+
+										LogManager.log.info("[AutoBone] Ratios: [{Neck-Waist: " + StringUtils.prettyNumber(neckWaist) +
+										"}, {Chest-Waist: " + StringUtils.prettyNumber(chestWaist) +
+										"}, {Hip-Waist: " + StringUtils.prettyNumber(hipWaist) +
+										"}, {Leg-Waist: " + StringUtils.prettyNumber(legWaist) +
+										"}, {Leg-Body: " + StringUtils.prettyNumber(legBody) +
+										"}, {Knee-Leg: " + StringUtils.prettyNumber(kneeLeg) + "}]");
+
+										String lengthsString = getLengthsString();
+										LogManager.log.info("[AutoBone] Length values: " + lengthsString);
+										lengthsLabel.setText(lengthsString);
+									}
+
+									if (heightPercentError.size() > 0) {
+										float mean = 0f;
+										for (float val : heightPercentError) {
+											mean += val;
+										}
+										mean /= heightPercentError.size();
+
+										float std = 0f;
+										for (float val : heightPercentError) {
+											float stdVal = val - mean;
+											std += stdVal * stdVal;
+										}
+										std = (float)Math.sqrt(std / heightPercentError.size());
+
+										LogManager.log.info("[AutoBone] Average height error: " + StringUtils.prettyNumber(mean, 6) + " (SD " + StringUtils.prettyNumber(std, 6) + ")");
+									}
+									//#endregion
+								} catch (Exception e) {
+									setText("Failed...");
+									LogManager.log.severe("[AutoBone] Failed adjustment!", e);
+									try {
+										Thread.sleep(3000); // Wait for 3 seconds
+									} catch (Exception e1) {
+										// Ignore
+									}
+								} finally {
+									setText("Auto-Adjust");
+									autoBoneThread = null;
+								}
+							}
+						};
+
+						autoBoneThread = thread;
+						thread.start();
+					}
+				});
+			}});
+
+			add(applyButton = new JButton("Apply Values") {{
+				setEnabled(false);
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						if (!isEnabled()) {
+							return;
+						}
+
+						autoBone.applyConfig();
+						// Update GUI values after applying
+						skeletonConfig.refreshAll();
+					}
+				});
+			}});
+		}});
+
+		pane.add(new EJBox(BoxLayout.LINE_AXIS) {{
+			setBorder(new EmptyBorder(i(5)));
+			add(processLabel = new JLabel("Processing has not been started..."));
+		}});
+
+		pane.add(new EJBox(BoxLayout.LINE_AXIS) {{
+			setBorder(new EmptyBorder(i(5)));
+			add(lengthsLabel = new JLabel(getLengthsString()));
+		}});
+
+		// Pack and display
+		pack();
+		setLocationRelativeTo(null);
+		setVisible(false);
+	}
+}

src/main/java/io/eiren/gui/autobone/PoseFrame.java

@@ -0,0 +1,37 @@
+package io.eiren.gui.autobone;
+
+import java.util.HashMap;
+
+import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
+
+import io.eiren.vr.processor.HumanSkeletonWithLegs;
+import io.eiren.vr.processor.TransformNode;
+
+public final class PoseFrame {
+
+	public final Vector3f rootPos;
+	public final HashMap<String, Quaternion> rotations;
+	public final HashMap<String, Vector3f> positions;
+
+	public PoseFrame(Vector3f rootPos, HashMap<String, Quaternion> rotations, HashMap<String, Vector3f> positions) {
+		this.rootPos = rootPos;
+		this.rotations = rotations;
+		this.positions = positions;
+	}
+
+	public PoseFrame(HumanSkeletonWithLegs skeleton) {
+		// Copy headset position
+		TransformNode rootNode = skeleton.getRootNode();
+		this.rootPos = new Vector3f(rootNode.localTransform.getTranslation());
+
+		// Copy all rotations
+		this.rotations = new HashMap<String, Quaternion>();
+		rootNode.depthFirstTraversal(visitor -> {
+			// Insert a copied quaternion so it isn't changed by reference
+			rotations.put(visitor.getName(), new Quaternion(visitor.localTransform.getRotation()));
+		});
+
+		this.positions = null;
+	}
+}

src/main/java/io/eiren/gui/autobone/PoseFrameIO.java

@@ -0,0 +1,174 @@
+package io.eiren.gui.autobone;
+
+import java.io.BufferedInputStream;
+import java.io.BufferedOutputStream;
+import java.io.DataInputStream;
+import java.io.DataOutputStream;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+import java.util.HashMap;
+import java.util.Map.Entry;
+
+import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
+
+import io.eiren.util.logging.LogManager;
+
+public final class PoseFrameIO {
+
+	private PoseFrameIO() {
+		// Do not allow instantiating
+	}
+
+	public static boolean writeToFile(File file, PoseFrame[] frames) {
+		try (DataOutputStream outputStream = new DataOutputStream(new BufferedOutputStream(new FileOutputStream(file)))) {
+			// Write every frame
+			outputStream.writeInt(frames.length);
+			for (PoseFrame frame : frames) {
+				writeFrame(outputStream, frame);
+			}
+		} catch (Exception e) {
+			LogManager.log.severe("Error writing frames to file", e);
+			return false;
+		}
+
+		return true;
+	}
+
+	public static boolean writeFrame(DataOutputStream outputStream, PoseFrame frame) {
+		try {
+			// Write root position vector
+			outputStream.writeFloat(frame.rootPos.x);
+			outputStream.writeFloat(frame.rootPos.y);
+			outputStream.writeFloat(frame.rootPos.z);
+
+			if (frame.rotations != null) {
+				// Write rotations
+				outputStream.writeInt(frame.rotations.size());
+				for (Entry<String, Quaternion> entry : frame.rotations.entrySet()) {
+					// Write the label string
+					outputStream.writeUTF(entry.getKey());
+
+					// Write the rotation quaternion
+					Quaternion quat = entry.getValue();
+					outputStream.writeFloat(quat.getX());
+					outputStream.writeFloat(quat.getY());
+					outputStream.writeFloat(quat.getZ());
+					outputStream.writeFloat(quat.getW());
+				}
+			} else {
+				outputStream.writeInt(0);
+			}
+
+			if (frame.positions != null) {
+				// Write positions
+				outputStream.writeInt(frame.positions.size());
+				for (Entry<String, Vector3f> entry : frame.positions.entrySet()) {
+					// Write the label string
+					outputStream.writeUTF(entry.getKey());
+
+					// Write the rotation quaternion
+					Vector3f vec = entry.getValue();
+					outputStream.writeFloat(vec.getX());
+					outputStream.writeFloat(vec.getY());
+					outputStream.writeFloat(vec.getZ());
+				}
+			} else {
+				outputStream.writeInt(0);
+			}
+		} catch (Exception e) {
+			LogManager.log.severe("Error writing frame to stream", e);
+			return false;
+		}
+
+		return true;
+	}
+
+	public static boolean writeFrame(File file, PoseFrame frame) {
+		try (DataOutputStream outputStream = new DataOutputStream(new BufferedOutputStream(new FileOutputStream(file)))) {
+			writeFrame(outputStream, frame);
+		} catch (Exception e) {
+			LogManager.log.severe("Error writing frame to file", e);
+			return false;
+		}
+
+		return true;
+	}
+
+	public static PoseFrame[] readFromFile(File file) {
+		try (DataInputStream inputStream = new DataInputStream(new BufferedInputStream(new FileInputStream(file)))) {
+			int frameCount = inputStream.readInt();
+
+			PoseFrame[] frames = new PoseFrame[frameCount];
+			for (int i = 0; i < frameCount; i++) {
+				frames[i] = readFrame(inputStream);
+			}
+
+			return frames;
+		} catch (Exception e) {
+			LogManager.log.severe("Error reading frames from file", e);
+		}
+
+		return null;
+	}
+
+	public static PoseFrame readFrame(DataInputStream inputStream) {
+		try {
+			float vecX = inputStream.readFloat();
+			float vecY = inputStream.readFloat();
+			float vecZ = inputStream.readFloat();
+
+			Vector3f vector = new Vector3f(vecX, vecY, vecZ);
+
+			int rotationCount = inputStream.readInt();
+			HashMap<String, Quaternion> rotations = null;
+			if (rotationCount > 0) {
+				rotations = new HashMap<String, Quaternion>(rotationCount);
+				for (int j = 0; j < rotationCount; j++) {
+					String label = inputStream.readUTF();
+
+					float quatX = inputStream.readFloat();
+					float quatY = inputStream.readFloat();
+					float quatZ = inputStream.readFloat();
+					float quatW = inputStream.readFloat();
+					Quaternion quaternion = new Quaternion(quatX, quatY, quatZ, quatW);
+
+					rotations.put(label, quaternion);
+				}
+			}
+
+			int positionCount = inputStream.readInt();
+			HashMap<String, Vector3f> positions = null;
+			if (positionCount > 0) {
+				positions = new HashMap<String, Vector3f>(positionCount);
+				for (int j = 0; j < positionCount; j++) {
+					String label = inputStream.readUTF();
+
+					float posX = inputStream.readFloat();
+					float posY = inputStream.readFloat();
+					float posZ = inputStream.readFloat();
+					Vector3f position = new Vector3f(posX, posY, posZ);
+
+					positions.put(label, position);
+				}
+			}
+
+			return new PoseFrame(vector, rotations, positions);
+		} catch (Exception e) {
+			LogManager.log.severe("Error reading frame from stream", e);
+		}
+
+		return null;
+	}
+
+	public static PoseFrame readFrame(File file) {
+		try {
+			return readFrame(new DataInputStream(new BufferedInputStream(new FileInputStream(file))));
+		} catch (Exception e) {
+			LogManager.log.severe("Error reading frame from file", e);
+		}
+
+		return null;
+	}
+}

src/main/java/io/eiren/gui/autobone/PoseRecorder.java

@@ -0,0 +1,136 @@
+package io.eiren.gui.autobone;
+
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.Future;
+
+import io.eiren.util.ann.ThreadSafe;
+import io.eiren.util.ann.VRServerThread;
+import io.eiren.util.collections.FastList;
+import io.eiren.util.logging.LogManager;
+import io.eiren.vr.VRServer;
+import io.eiren.vr.processor.HumanSkeleton;
+import io.eiren.vr.processor.HumanSkeletonWithLegs;
+
+public class PoseRecorder {
+
+	protected final FastList<PoseFrame> frames = new FastList<PoseFrame>();
+
+	protected int numFrames = -1;
+	protected long frameRecordingInterval = 60L;
+	protected long nextFrameTimeMs = -1L;
+
+	protected CompletableFuture<PoseFrame[]> currentRecording;
+
+	protected final VRServer server;
+	HumanSkeletonWithLegs skeleton = null;
+
+	public PoseRecorder(VRServer server) {
+		this.server = server;
+		server.addOnTick(this::onTick);
+		server.addSkeletonUpdatedCallback(this::skeletonUpdated);
+	}
+
+	@VRServerThread
+	public void onTick() {
+		if (numFrames > 0) {
+			HumanSkeletonWithLegs skeleton = this.skeleton;
+			if (skeleton != null) {
+				if (frames.size() < numFrames) {
+					if (System.currentTimeMillis() >= nextFrameTimeMs) {
+						nextFrameTimeMs = System.currentTimeMillis() + frameRecordingInterval;
+						frames.add(new PoseFrame(skeleton));
+
+						// If done, send finished recording
+						if (frames.size() >= numFrames) {
+							internalStopRecording();
+						}
+					}
+				} else {
+					// If done and hasn't yet, send finished recording
+					internalStopRecording();
+				}
+			}
+		}
+	}
+
+	@ThreadSafe
+	public void skeletonUpdated(HumanSkeleton newSkeleton) {
+		if (newSkeleton instanceof HumanSkeletonWithLegs) {
+			skeleton = (HumanSkeletonWithLegs) newSkeleton;
+		}
+	}
+
+	public synchronized Future<PoseFrame[]> startFrameRecording(int numFrames, long interval) {
+		if (numFrames < 1) {
+			throw new IllegalArgumentException("numFrames must at least have a value of 1");
+		}
+		if (interval < 1) {
+			throw new IllegalArgumentException("interval must at least have a value of 1");
+		}
+		if (!isReadyToRecord()) {
+			throw new IllegalStateException("PoseRecorder isn't ready to record!");
+		}
+
+		cancelFrameRecording();
+
+		// Clear old frames and ensure new size can be held
+		frames.clear();
+		frames.ensureCapacity(numFrames);
+
+		this.numFrames = numFrames;
+
+		frameRecordingInterval = interval;
+		nextFrameTimeMs = -1L;
+
+		LogManager.log.info("[PoseRecorder] Recording " + numFrames + " samples at a " + interval + " ms frame interval");
+
+		currentRecording = new CompletableFuture<PoseFrame[]>();
+		return currentRecording;
+	}
+
+	private void internalStopRecording() {
+		CompletableFuture<PoseFrame[]> currentRecording = this.currentRecording;
+		if (currentRecording != null && !currentRecording.isDone()) {
+			// Stop the recording, returning the frames recorded
+			currentRecording.complete(frames.toArray(new PoseFrame[0]));
+		}
+
+		numFrames = -1;
+	}
+
+	public synchronized void stopFrameRecording() {
+		internalStopRecording();
+	}
+
+	public synchronized void cancelFrameRecording() {
+		CompletableFuture<PoseFrame[]> currentRecording = this.currentRecording;
+		if (currentRecording != null && !currentRecording.isDone()) {
+			// Cancel the current recording and return nothing
+			currentRecording.cancel(true);
+		}
+
+		numFrames = -1;
+	}
+
+	public boolean isReadyToRecord() {
+		return skeleton != null;
+	}
+
+	public boolean isRecording() {
+		return numFrames > frames.size();
+	}
+
+	public boolean hasRecording() {
+		return currentRecording != null;
+	}
+
+	public Future<PoseFrame[]> getFramesAsync() {
+		return currentRecording;
+	}
+
+	public PoseFrame[] getFrames() throws ExecutionException, InterruptedException {
+		CompletableFuture<PoseFrame[]> currentRecording = this.currentRecording;
+		return currentRecording != null ? currentRecording.get() : null;
+	}
+}

src/main/java/io/eiren/gui/autobone/SimpleSkeleton.java

@@ -0,0 +1,291 @@
+package io.eiren.gui.autobone;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Map.Entry;
+
+import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
+
+import io.eiren.vr.processor.HumanSkeletonWithLegs;
+import io.eiren.vr.processor.HumanSkeletonWithWaist;
+import io.eiren.vr.processor.TransformNode;
+import io.eiren.yaml.YamlFile;
+
+public class SimpleSkeleton {
+
+	// Waist
+	protected final TransformNode hmdNode = new TransformNode("HMD", false);
+	protected final TransformNode headNode = new TransformNode("Head", false);
+	protected final TransformNode neckNode = new TransformNode("Neck", false);
+	protected final TransformNode waistNode = new TransformNode("Waist", false);
+	protected final TransformNode chestNode = new TransformNode("Chest", false);
+
+	protected float chestDistance = 0.42f;
+	/**
+	 * Distance from eyes to waist
+	 */
+	protected float waistDistance = 0.85f;
+	/**
+	 * Distance from eyes to the base of the neck
+	 */
+	protected float neckLength = HumanSkeletonWithWaist.NECK_LENGTH_DEFAULT;
+	/**
+	 * Distance from eyes to ear
+	 */
+	protected float headShift = HumanSkeletonWithWaist.HEAD_SHIFT_DEFAULT;
+
+	// Legs
+	protected final TransformNode leftHipNode = new TransformNode("Left-Hip", false);
+	protected final TransformNode leftKneeNode = new TransformNode("Left-Knee", false);
+	protected final TransformNode leftAnkleNode = new TransformNode("Left-Ankle", false);
+	protected final TransformNode rightHipNode = new TransformNode("Right-Hip", false);
+	protected final TransformNode rightKneeNode = new TransformNode("Right-Knee", false);
+	protected final TransformNode rightAnkleNode = new TransformNode("Right-Ankle", false);
+
+	/**
+	 * Distance between centers of both hips
+	 */
+	protected float hipsWidth = HumanSkeletonWithLegs.HIPS_WIDTH_DEFAULT;
+	/**
+	 * Length from waist to knees
+	 */
+	protected float kneeHeight = 0.42f;
+	/**
+	 * Distance from waist to ankle
+	 */
+	protected float legsLength = 0.84f;
+
+	protected final HashMap<String, TransformNode> nodes = new HashMap<String, TransformNode>();
+
+	public SimpleSkeleton() {
+		// Assemble skeleton to waist
+		hmdNode.attachChild(headNode);
+		headNode.localTransform.setTranslation(0, 0, headShift);
+
+		headNode.attachChild(neckNode);
+		neckNode.localTransform.setTranslation(0, -neckLength, 0);
+
+		neckNode.attachChild(chestNode);
+		chestNode.localTransform.setTranslation(0, -chestDistance, 0);
+
+		chestNode.attachChild(waistNode);
+		waistNode.localTransform.setTranslation(0, -(waistDistance - chestDistance), 0);
+
+		// Assemble skeleton to feet
+		waistNode.attachChild(leftHipNode);
+		leftHipNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
+
+		waistNode.attachChild(rightHipNode);
+		rightHipNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
+
+		leftHipNode.attachChild(leftKneeNode);
+		leftKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+
+		rightHipNode.attachChild(rightKneeNode);
+		rightKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+
+		leftKneeNode.attachChild(leftAnkleNode);
+		leftAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
+
+		rightKneeNode.attachChild(rightAnkleNode);
+		rightAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
+
+		// Set up a HashMap to get nodes by name easily
+		hmdNode.depthFirstTraversal(visitor -> {
+			nodes.put(visitor.getName(), visitor);
+		});
+	}
+
+	public SimpleSkeleton(Iterable<Entry<String, Float>> configs, Iterable<Entry<String, Float>> altConfigs) {
+		// Initialize
+		this();
+
+		// Set configs
+		if (altConfigs != null) {
+			// Set alts first, so if there's any overlap it doesn't affect the values
+			setSkeletonConfigs(altConfigs);
+		}
+		setSkeletonConfigs(configs);
+	}
+
+	public SimpleSkeleton(Map<String, Float> configs, Map<String, Float> altConfigs) {
+		this(configs.entrySet(), altConfigs.entrySet());
+	}
+
+	public SimpleSkeleton(Iterable<Entry<String, Float>> configs) {
+		this(configs, null);
+	}
+
+	public SimpleSkeleton(Map<String, Float> configs) {
+		this(configs.entrySet());
+	}
+
+	public void setPoseFromSkeleton(HumanSkeletonWithLegs humanSkeleton) {
+		TransformNode rootNode = humanSkeleton.getRootNode();
+
+		// Copy headset position
+		hmdNode.localTransform.setTranslation(rootNode.localTransform.getTranslation());
+
+		// Copy all rotations
+		rootNode.depthFirstTraversal(visitor -> {
+			TransformNode targetNode = nodes.get(visitor.getName());
+
+			// Handle unexpected nodes gracefully
+			if (targetNode != null) {
+				targetNode.localTransform.setRotation(visitor.localTransform.getRotation());
+			}
+		});
+	}
+
+	public void setPoseFromFrame(PoseFrame frame) {
+		// Copy headset position
+		hmdNode.localTransform.setTranslation(frame.rootPos);
+
+		if (frame.rotations != null) {
+			// Copy all rotations
+			for (Entry<String, Quaternion> rotation : frame.rotations.entrySet()) {
+				TransformNode targetNode = nodes.get(rotation.getKey());
+
+				// Handle unexpected nodes gracefully
+				if (targetNode != null) {
+					targetNode.localTransform.setRotation(rotation.getValue());
+				}
+			}
+		}
+
+		updatePose();
+	}
+
+	public void setSkeletonConfigs(Iterable<Entry<String, Float>> configs) {
+		for (Entry<String, Float> config : configs) {
+			setSkeletonConfig(config.getKey(), config.getValue());
+		}
+	}
+
+	public void setSkeletonConfigs(Map<String, Float> configs) {
+		setSkeletonConfigs(configs.entrySet());
+	}
+
+	public void setSkeletonConfig(String joint, float newLength) {
+		setSkeletonConfig(joint, newLength, false);
+	}
+
+	public void setSkeletonConfig(String joint, float newLength, boolean updatePose) {
+		switch(joint) {
+		case "Head":
+			headShift = newLength;
+			headNode.localTransform.setTranslation(0, 0, headShift);
+			if (updatePose) {
+				headNode.update();
+			}
+			break;
+		case "Neck":
+			neckLength = newLength;
+			neckNode.localTransform.setTranslation(0, -neckLength, 0);
+			if (updatePose) {
+				neckNode.update();
+			}
+			break;
+		case "Waist":
+			waistDistance = newLength;
+			waistNode.localTransform.setTranslation(0, -(waistDistance - chestDistance), 0);
+			if (updatePose) {
+				waistNode.update();
+			}
+			break;
+		case "Chest":
+			chestDistance = newLength;
+			chestNode.localTransform.setTranslation(0, -chestDistance, 0);
+			waistNode.localTransform.setTranslation(0, -(waistDistance - chestDistance), 0);
+			if (updatePose) {
+				chestNode.update();
+			}
+			break;
+		case "Hips width":
+			hipsWidth = newLength;
+			leftHipNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
+			rightHipNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
+			if (updatePose) {
+				leftHipNode.update();
+				rightHipNode.update();
+			}
+			break;
+		case "Knee height":
+			kneeHeight = newLength;
+			leftAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
+			rightAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
+			leftKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			rightKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			if (updatePose) {
+				leftKneeNode.update();
+				rightKneeNode.update();
+			}
+			break;
+		case "Legs length":
+			legsLength = newLength;
+			leftKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			rightKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			if (updatePose) {
+				leftKneeNode.update();
+				rightKneeNode.update();
+			}
+			break;
+		}
+	}
+
+	public Float getSkeletonConfig(String joint) {
+		switch(joint) {
+		case "Head":
+			return headShift;
+		case "Neck":
+			return neckLength;
+		case "Waist":
+			return waistDistance;
+		case "Chest":
+			return chestDistance;
+		case "Hips width":
+			return hipsWidth;
+		case "Knee height":
+			return kneeHeight;
+		case "Legs length":
+			return legsLength;
+		}
+
+		return null;
+	}
+
+	public void updatePose() {
+		hmdNode.update();
+	}
+
+	public Vector3f getNodePosition(String node) {
+		TransformNode transformNode = nodes.get(node);
+		return transformNode != null ? transformNode.worldTransform.getTranslation() : null;
+	}
+
+	public Vector3f getHMDPos() {
+		return hmdNode.worldTransform.getTranslation();
+	}
+
+	public Vector3f getLeftFootPos() {
+		return leftAnkleNode.worldTransform.getTranslation();
+	}
+
+	public Vector3f getRightFootPos() {
+		return rightAnkleNode.worldTransform.getTranslation();
+	}
+
+	public void saveConfigs(YamlFile config) {
+		// Save waist configs
+		config.setProperty("body.headShift", headShift);
+		config.setProperty("body.neckLength", neckLength);
+		config.setProperty("body.waistDistance", waistDistance);
+		config.setProperty("body.chestDistance", chestDistance);
+
+		// Save leg configs
+		config.setProperty("body.hipsWidth", hipsWidth);
+		config.setProperty("body.kneeHeight", kneeHeight);
+		config.setProperty("body.legsLength", legsLength);
+	}
+}

src/main/java/io/eiren/vr/Main.java

@@ -5,13 +5,13 @@ import java.io.File;
 import io.eiren.gui.VRServerGUI;
 import io.eiren.util.logging.LogManager;
 
-
 public class Main {
 	
-	public static String VERSION = "0.0.10";
+	public static String VERSION = "0.0.17";
 	
 	public static VRServer vrServer;
 	
+	@SuppressWarnings("unused")
 	public static void main(String[] args) {
 		System.setProperty("awt.useSystemAAFontSettings", "on");
 		System.setProperty("swing.aatext", "true");

src/main/java/io/eiren/vr/VRServer.java

@@ -2,6 +2,7 @@ package io.eiren.vr;
 
 import java.io.File;
 import java.io.FileInputStream;
+import java.io.FileNotFoundException;
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.net.InetAddress;
@@ -19,6 +20,7 @@ import io.eiren.util.ann.ThreadSecure;
 import io.eiren.util.ann.VRServerThread;
 import io.eiren.util.collections.FastList;
 import io.eiren.vr.bridge.NamedPipeVRBridge;
+import io.eiren.vr.bridge.SteamVRPipeInputBridge;
 import io.eiren.vr.bridge.VMCBridge;
 import io.eiren.vr.bridge.VRBridge;
 import io.eiren.vr.processor.HumanPoseProcessor;
@@ -50,13 +52,17 @@ public class VRServer extends Thread {
 		hmdTracker = new HMDTracker("HMD");
 		hmdTracker.position.set(0, 1.8f, 0); // Set starting position for easier debugging
 		// TODO Multiple processors
-		humanPoseProcessor = new HumanPoseProcessor(this, hmdTracker);
+		humanPoseProcessor = new HumanPoseProcessor(this, hmdTracker, config.getInt("virtualtrackers", 3));
 		List<? extends Tracker> shareTrackers = humanPoseProcessor.getComputedTrackers();
 		
 		// Create named pipe bridge for SteamVR driver
 		NamedPipeVRBridge driverBridge = new NamedPipeVRBridge(hmdTracker, shareTrackers, this);
 		tasks.add(() -> driverBridge.start());
 		bridges.add(driverBridge);
+		// Create named pipe bridge for SteamVR input
+		SteamVRPipeInputBridge steamVRInput = new SteamVRPipeInputBridge(this);
+		tasks.add(() -> steamVRInput.start());
+		bridges.add(steamVRInput);
 		
 		// Create VMCBridge
 		try {
@@ -98,8 +104,8 @@ public class VRServer extends Thread {
 	private void loadConfig() {
 		try {
 			config.load(new FileInputStream(new File("vrconfig.yml")));
-		} catch(IOException e) {
-			e.printStackTrace();
+		} catch(FileNotFoundException e) {
+			// Config file didn't exist, is not an error
 		} catch(YamlException e) {
 			e.printStackTrace();
 		}
@@ -189,12 +195,13 @@ public class VRServer extends Thread {
 					break;
 				task.run();
 			} while(true);
-			
 			for(int i = 0; i < onTick.size(); ++i) {
 				this.onTick.get(i).run();
 			}
 			for(int i = 0; i < bridges.size(); ++i)
 				bridges.get(i).dataRead();
+			for(int i = 0; i < trackers.size(); ++i)
+				trackers.get(i).tick();
 			humanPoseProcessor.update();
 			for(int i = 0; i < bridges.size(); ++i)
 				bridges.get(i).dataWrite();
@@ -234,6 +241,12 @@ public class VRServer extends Thread {
 		});
 	}
 	
+	public void resetTrackersYaw() {
+		queueTask(() -> {
+			humanPoseProcessor.resetTrackersYaw();
+		});
+	}
+	
 	public int getTrackersCount() {
 		return trackers.size();
 	}

src/main/java/io/eiren/vr/bridge/NamedPipeVRBridge.java

@@ -21,19 +21,20 @@ import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerStatus;
 
 public class NamedPipeVRBridge extends Thread implements VRBridge {
-	
+
+	private static final int MAX_COMMAND_LENGTH = 2048;
 	public static final String HMDPipeName = "\\\\.\\pipe\\HMDPipe";
 	public static final String TrackersPipeName = "\\\\.\\pipe\\TrackPipe";
 	public static final Charset ASCII = Charset.forName("ASCII");
-	
-	private final byte[] buffer = new byte[1024];
+
+	private final byte[] buffArray = new byte[1024];
+	private final StringBuilder commandBuilder = new StringBuilder(1024);
 	private final StringBuilder sbBuffer = new StringBuilder(1024);
 	private final Vector3f vBuffer = new Vector3f();
 	private final Vector3f vBuffer2 = new Vector3f();
 	private final Quaternion qBuffer = new Quaternion();
 	private final Quaternion qBuffer2 = new Quaternion();
 	
-	private final VRServer server;
 	private Pipe hmdPipe;
 	private final HMDTracker hmd;
 	private final List<Pipe> trackerPipes;
@@ -43,11 +44,8 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 	private final HMDTracker internalHMDTracker = new HMDTracker("itnernal://HMD");
 	private final AtomicBoolean newHMDData = new AtomicBoolean(false);
 	
-	private boolean spawnOneTracker = false;
-	
 	public NamedPipeVRBridge(HMDTracker hmd, List<? extends Tracker> shareTrackers, VRServer server) {
 		super("Named Pipe VR Bridge");
-		this.server = server;
 		this.hmd = hmd;
 		this.shareTrackers = new FastList<>(shareTrackers);
 		this.trackerPipes = new FastList<>(shareTrackers.size());
@@ -58,26 +56,6 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 			ct.setStatus(TrackerStatus.OK);
 			this.internalTrackers.add(ct);
 		}
-		this.spawnOneTracker = server.config.getBoolean("openvr.onetracker", spawnOneTracker);
-	}
-	
-	public boolean isOneTrackerMode() {
-		return this.spawnOneTracker;
-	}
-	
-	/**
-	 * Makes OpenVR bridge spawn only 1 tracker instead of 3, for
-	 * use with only waist/chest tracking. Requires restart.
-	 */
-	public void setSpawnOneTracker(boolean spawnOneTracker) {
-		if(spawnOneTracker == this.spawnOneTracker)
-			return;
-		this.spawnOneTracker = spawnOneTracker;
-		if(this.spawnOneTracker)
-			this.server.config.setProperty("openvr.onetracker", true);
-		else
-			this.server.config.removeProperty("openvr.onetracker");
-		this.server.saveConfig();
 	}
 	
 	@Override
@@ -133,35 +111,31 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 				if(tryOpeningPipe(trackerPipe))
 					initTrackerPipe(trackerPipe, i);
 			}
-			if(spawnOneTracker)
-				break;
 		}
 	}
 	
-	public boolean updateHMD() {
+	public boolean updateHMD() throws IOException {
 		if(hmdPipe.state == PipeState.OPEN) {
 			IntByReference bytesAvailable = new IntByReference(0);
 			if(Kernel32.INSTANCE.PeekNamedPipe(hmdPipe.pipeHandle, null, 0, null, bytesAvailable, null)) {
 				if(bytesAvailable.getValue() > 0) {
-					if(Kernel32.INSTANCE.ReadFile(hmdPipe.pipeHandle, buffer, buffer.length, bytesAvailable, null)) {
-						String str = new String(buffer, 0, bytesAvailable.getValue() - 1, ASCII);
-						String[] split = str.split("\n")[0].split(" ");
-						try {
-							double x = Double.parseDouble(split[0]);
-							double y = Double.parseDouble(split[1]);
-							double z = Double.parseDouble(split[2]);
-							double qw = Double.parseDouble(split[3]);
-							double qx = Double.parseDouble(split[4]);
-							double qy = Double.parseDouble(split[5]);
-							double qz = Double.parseDouble(split[6]);
-							
-							internalHMDTracker.position.set((float) x, (float) y, (float) z);
-							internalHMDTracker.rotation.set((float) qx, (float) qy, (float) qz, (float) qw);
-							internalHMDTracker.dataTick();
-							newHMDData.set(true);
-						} catch(NumberFormatException e) {
-							e.printStackTrace();
+					while(Kernel32.INSTANCE.ReadFile(hmdPipe.pipeHandle, buffArray, buffArray.length, bytesAvailable, null)) {
+						int bytesRead = bytesAvailable.getValue();
+						for(int i = 0; i < bytesRead; ++i) {
+							char c = (char) buffArray[i];
+							if(c == '\n') {
+								executeHMDInput();
+								commandBuilder.setLength(0);
+							} else {
+								commandBuilder.append(c);
+								if(commandBuilder.length() >= MAX_COMMAND_LENGTH) {
+									LogManager.log.severe("[VRBridge] Command from the pipe is too long, flushing buffer");
+									commandBuilder.setLength(0);
+								}
+							}
 						}
+						if(bytesRead < buffArray.length)
+							break; // Don't repeat, we read all available bytes
 					}
 					return true;
 				}
@@ -170,6 +144,30 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 		return false;
 	}
 	
+	private void executeHMDInput() throws IOException {
+		String[] split = commandBuilder.toString().split(" ");
+		if(split.length < 7) {
+			LogManager.log.severe("[VRBridge] Short HMD data recieved: " + commandBuilder.toString());
+			return;
+		}
+		try {
+			double x = Double.parseDouble(split[0]);
+			double y = Double.parseDouble(split[1]);
+			double z = Double.parseDouble(split[2]);
+			double qw = Double.parseDouble(split[3]);
+			double qx = Double.parseDouble(split[4]);
+			double qy = Double.parseDouble(split[5]);
+			double qz = Double.parseDouble(split[6]);
+			
+			internalHMDTracker.position.set((float) x, (float) y, (float) z);
+			internalHMDTracker.rotation.set((float) qx, (float) qy, (float) qz, (float) qw);
+			internalHMDTracker.dataTick();
+			newHMDData.set(true);
+		} catch(NumberFormatException e) {
+			e.printStackTrace();
+		}
+	}
+	
 	public void updateTracker(int trackerId, boolean hmdUpdated) {
 		Tracker sensor = internalTrackers.get(trackerId);
 		if(sensor.getStatus().sendData) {
@@ -181,10 +179,10 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 				sbBuffer.append(vBuffer.x).append(' ').append(vBuffer.y).append(' ').append(vBuffer.z).append(' ');
 				sbBuffer.append(qBuffer.getW()).append(' ').append(qBuffer.getX()).append(' ').append(qBuffer.getY()).append(' ').append(qBuffer.getZ()).append('\n');
 				String str = sbBuffer.toString();
-				System.arraycopy(str.getBytes(ASCII), 0, buffer, 0, str.length());
-				buffer[str.length()] = '\0';
+				System.arraycopy(str.getBytes(ASCII), 0, buffArray, 0, str.length());
+				buffArray[str.length()] = '\0';
 				IntByReference lpNumberOfBytesWritten = new IntByReference(0);
-				Kernel32.INSTANCE.WriteFile(trackerPipe.pipeHandle, buffer, str.length() + 1, lpNumberOfBytesWritten, null);
+				Kernel32.INSTANCE.WriteFile(trackerPipe.pipeHandle, buffArray, str.length() + 1, lpNumberOfBytesWritten, null);
 			}
 		}
 	}
@@ -194,12 +192,12 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 	}
 	
 	private void initTrackerPipe(Pipe pipe, int trackerId) {
-		String trackerHello = (spawnOneTracker ? "1" : this.shareTrackers.size()) + " 0";
-		System.arraycopy(trackerHello.getBytes(ASCII), 0, buffer, 0, trackerHello.length());
-		buffer[trackerHello.length()] = '\0';
+		String trackerHello = this.shareTrackers.size() + " 0";
+		System.arraycopy(trackerHello.getBytes(ASCII), 0, buffArray, 0, trackerHello.length());
+		buffArray[trackerHello.length()] = '\0';
 		IntByReference lpNumberOfBytesWritten = new IntByReference(0);
 		Kernel32.INSTANCE.WriteFile(pipe.pipeHandle,
-			buffer,
+			buffArray,
 			trackerHello.length() + 1,
 			lpNumberOfBytesWritten,
 			null);
@@ -207,7 +205,7 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 	
 	private boolean tryOpeningPipe(Pipe pipe) {
 		if(Kernel32.INSTANCE.ConnectNamedPipe(pipe.pipeHandle, null)) {
-			pipe.state = NamedPipeVRBridge.PipeState.OPEN;
+			pipe.state = PipeState.OPEN;
 			LogManager.log.info("[VRBridge] Pipe " + pipe.name + " is open");
 			return true;
 		}
@@ -252,8 +250,6 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 					throw new IOException("Can't open " + pipeName + " pipe: " + Kernel32.INSTANCE.GetLastError());
 				LogManager.log.info("[VRBridge] Pipe " + pipeName + " created");
 				trackerPipes.add(new Pipe(pipeHandle, pipeName));
-				if(spawnOneTracker)
-					break;
 			}
 			LogManager.log.info("[VRBridge] Pipes are open");
 		} catch(IOException e) {
@@ -272,21 +268,4 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 		} catch(Exception e) {
 		}
 	}
-	
-	private static class Pipe {
-		final String name;
-		final HANDLE pipeHandle;
-		PipeState state = PipeState.CREATED;
-		
-		public Pipe(HANDLE pipeHandle, String name) {
-			this.pipeHandle = pipeHandle;
-			this.name = name;
-		}
-	}
-	
-	private static enum PipeState {
-		CREATED,
-		OPEN,
-		ERROR;
-	}
 }

src/main/java/io/eiren/vr/bridge/Pipe.java

@@ -0,0 +1,14 @@
+package io.eiren.vr.bridge;
+
+import com.sun.jna.platform.win32.WinNT.HANDLE;
+
+class Pipe {
+	final String name;
+	final HANDLE pipeHandle;
+	PipeState state = PipeState.CREATED;
+	
+	public Pipe(HANDLE pipeHandle, String name) {
+		this.pipeHandle = pipeHandle;
+		this.name = name;
+	}
+}

src/main/java/io/eiren/vr/bridge/PipeState.java

@@ -0,0 +1,7 @@
+package io.eiren.vr.bridge;
+
+enum PipeState {
+	CREATED,
+	OPEN,
+	ERROR;
+}

src/main/java/io/eiren/vr/bridge/SteamVRPipeInputBridge.java

@@ -0,0 +1,275 @@
+package io.eiren.vr.bridge;
+
+import java.io.IOException;
+import java.util.HashMap;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import org.apache.commons.lang3.StringUtils;
+
+import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
+import com.sun.jna.platform.win32.Kernel32;
+import com.sun.jna.platform.win32.WinBase;
+import com.sun.jna.ptr.IntByReference;
+
+import io.eiren.util.collections.FastList;
+import io.eiren.util.logging.LogManager;
+import io.eiren.vr.VRServer;
+import io.eiren.vr.processor.TrackerBodyPosition;
+import io.eiren.vr.trackers.SteamVRTracker;
+import io.eiren.vr.trackers.TrackerStatus;
+
+public class SteamVRPipeInputBridge extends Thread implements VRBridge {
+
+	private static final int MAX_COMMAND_LENGTH = 2048;
+	public static final String PipeName = "\\\\.\\pipe\\SlimeVRInput";
+
+	private final byte[] buffArray = new byte[1024];
+	private final VRServer server;
+	private final StringBuilder commandBuilder = new StringBuilder(1024);
+	private final List<SteamVRTracker> trackers = new FastList<>();
+	private final Map<Integer, SteamVRTracker> trackersInternal = new HashMap<>();
+	private AtomicBoolean newData = new AtomicBoolean(false);
+	private final Vector3f vBuffer = new Vector3f();
+	private final Quaternion qBuffer = new Quaternion();
+	private Pipe pipe;
+	
+	public SteamVRPipeInputBridge(VRServer server) {
+		this.server = server;
+	}
+	
+	@Override
+	public void run() {
+		try {
+			createPipes();
+			while(true) {
+				waitForPipesToOpen();
+				if(areAllPipesOpen()) {
+					boolean pipesUpdated = updatePipes(); // Update at HMDs frequency
+					if(!pipesUpdated) {
+						Thread.sleep(5); // Up to 200Hz
+					}
+				} else {
+					Thread.sleep(10);
+				}
+			}
+		} catch(Exception e) {
+			e.printStackTrace();
+		}
+	}
+	
+	private void waitForPipesToOpen() {
+		if(pipe.state == PipeState.CREATED) {
+			tryOpeningPipe(pipe);
+		}
+	}
+	
+	public boolean updatePipes() throws IOException {
+		if(pipe.state == PipeState.OPEN) {
+			IntByReference bytesAvailable = new IntByReference(0);
+			if(Kernel32.INSTANCE.PeekNamedPipe(pipe.pipeHandle, null, 0, null, bytesAvailable, null)) {
+				if(bytesAvailable.getValue() > 0) {
+					while(Kernel32.INSTANCE.ReadFile(pipe.pipeHandle, buffArray, buffArray.length, bytesAvailable, null)) {
+						int bytesRead = bytesAvailable.getValue();
+						for(int i = 0; i < bytesRead; ++i) {
+							char c = (char) buffArray[i];
+							if(c == '\n') {
+								executeInputCommand();
+								commandBuilder.setLength(0);
+							} else {
+								commandBuilder.append(c);
+								if(commandBuilder.length() >= MAX_COMMAND_LENGTH) {
+									LogManager.log.severe("[SteamVRPipeInputBridge] Command from the pipe is too long, flushing buffer");
+									commandBuilder.setLength(0);
+								}
+							}
+						}
+						if(bytesRead < buffArray.length)
+							break; // Don't repeat, we read all available bytes
+					}
+					return true;
+				}
+			}
+		}
+		return false;
+	}
+	
+	private void executeInputCommand() throws IOException {
+		String[] command = commandBuilder.toString().split(" ");
+		switch(command[0]) {
+		case "ADD": // Add new tracker
+			if(command.length < 4) {
+				LogManager.log.severe("[SteamVRPipeInputBridge] Error in ADD command. Command requires at least 4 arguments. Supplied: " + commandBuilder.toString());
+				return;
+			}
+			SteamVRTracker internalTracker = new SteamVRTracker(Integer.parseInt(command[1]), StringUtils.join(command, " ", 3, command.length));
+			int roleId = Integer.parseInt(command[2]);
+			if(roleId >= 0 && roleId < SteamVRInputRoles.values.length) {
+				SteamVRInputRoles svrRole = SteamVRInputRoles.values[roleId];
+				internalTracker.bodyPosition = svrRole.bodyPosition;
+			}
+			SteamVRTracker oldTracker;
+			synchronized(trackersInternal) {
+				oldTracker = trackersInternal.put(internalTracker.id, internalTracker);
+			}
+			if(oldTracker != null) {
+				LogManager.log.severe("[SteamVRPipeInputBridge] New tracker added with the same id. Supplied: " + commandBuilder.toString());
+				return;
+			}
+			newData.set(true);
+			break;
+		case "UPD": // Update tracker data
+			if(command.length < 9) {
+				LogManager.log.severe("[SteamVRPipeInputBridge] Error in UPD command. Command requires at least 9 arguments. Supplied: " + commandBuilder.toString());
+				return;
+			}
+			int id = Integer.parseInt(command[1]);
+			double x = Double.parseDouble(command[2]);
+			double y = Double.parseDouble(command[3]);
+			double z = Double.parseDouble(command[4]);
+			double qw = Double.parseDouble(command[5]);
+			double qx = Double.parseDouble(command[6]);
+			double qy = Double.parseDouble(command[7]);
+			double qz = Double.parseDouble(command[8]);
+			internalTracker = trackersInternal.get(id);
+			if(internalTracker != null) {
+				internalTracker.position.set((float) x, (float) y, (float) z);
+				internalTracker.rotation.set((float) qx, (float) qy, (float) qz, (float) qw);
+				internalTracker.dataTick();
+				newData.set(true);
+			}
+			break;
+		case "STA": // Update tracker status
+			if(command.length < 3) {
+				LogManager.log.severe("[SteamVRPipeInputBridge] Error in STA command. Command requires at least 3 arguments. Supplied: " + commandBuilder.toString());
+				return;
+			}
+			id = Integer.parseInt(command[1]);
+			int status = Integer.parseInt(command[2]);
+			TrackerStatus st = TrackerStatus.getById(status);
+			if(st == null) {
+				LogManager.log.severe("[SteamVRPipeInputBridge] Unrecognized status id. Supplied: " + commandBuilder.toString());
+				return;
+			}
+			internalTracker = trackersInternal.get(id);
+			if(internalTracker != null) {
+				internalTracker.setStatus(st);
+				newData.set(true);
+			}
+			break;
+		}
+	}
+	
+	@Override
+	public void dataRead() {
+		// Not used, only input
+	}
+	
+	@Override
+	public void dataWrite() {
+		if(newData.getAndSet(false)) {
+			if(trackers.size() < trackersInternal.size()) {
+				// Add new trackers
+				synchronized(trackersInternal) {
+					Iterator<SteamVRTracker> iterator = trackersInternal.values().iterator();
+					internal: while(iterator.hasNext()) {
+						SteamVRTracker internalTracker = iterator.next();
+						for(int i = 0; i < trackers.size(); ++i) {
+							SteamVRTracker t = trackers.get(i);
+							if(t.id == internalTracker.id)
+								continue internal;
+						}
+						// Tracker is not found in current trackers
+						SteamVRTracker tracker = new SteamVRTracker(internalTracker.id, internalTracker.getName());
+						tracker.bodyPosition = internalTracker.bodyPosition;
+						trackers.add(tracker);
+						server.registerTracker(tracker);
+					}
+				}
+			}
+			for(int i = 0; i < trackers.size(); ++i) {
+				SteamVRTracker tracker = trackers.get(i);
+				SteamVRTracker internal = trackersInternal.get(tracker.id);
+				if(internal == null)
+					throw new NullPointerException("Lost internal tracker somehow: " + tracker.id); // Shouln't really happen even, but better to catch it like this
+				if(internal.getPosition(vBuffer))
+					tracker.position.set(vBuffer);
+				if(internal.getRotation(qBuffer))
+					tracker.rotation.set(qBuffer);
+				tracker.dataTick();
+			}
+		}
+	}
+	
+	private boolean tryOpeningPipe(Pipe pipe) {
+		if(Kernel32.INSTANCE.ConnectNamedPipe(pipe.pipeHandle, null)) {
+			pipe.state = PipeState.OPEN;
+			LogManager.log.info("[SteamVRPipeInputBridge] Pipe " + pipe.name + " is open");
+			return true;
+		}
+		
+		LogManager.log.info("[SteamVRPipeInputBridge] Error connecting to pipe " + pipe.name + ": " + Kernel32.INSTANCE.GetLastError());
+		return false;
+	}
+	
+	private boolean areAllPipesOpen() {
+		if(pipe == null || pipe.state == PipeState.CREATED) {
+			return false;
+		}
+		return true;
+	}
+	
+	private void createPipes() throws IOException {
+		try {
+			pipe = new Pipe(Kernel32.INSTANCE.CreateNamedPipe(PipeName, WinBase.PIPE_ACCESS_DUPLEX, // dwOpenMode
+					WinBase.PIPE_TYPE_BYTE | WinBase.PIPE_READMODE_BYTE | WinBase.PIPE_WAIT, // dwPipeMode
+					1, // nMaxInstances,
+					1024 * 16, // nOutBufferSize,
+					1024 * 16, // nInBufferSize,
+					0, // nDefaultTimeOut,
+					null), PipeName); // lpSecurityAttributes
+			LogManager.log.info("[SteamVRPipeInputBridge] Pipe " + pipe.name + " created");
+			if(WinBase.INVALID_HANDLE_VALUE.equals(pipe.pipeHandle))
+				throw new IOException("Can't open " + PipeName + " pipe: " + Kernel32.INSTANCE.GetLastError());
+			LogManager.log.info("[SteamVRPipeInputBridge] Pipes are open");
+		} catch(IOException e) {
+			safeDisconnect(pipe);
+			throw e;
+		}
+	}
+	
+	public static void safeDisconnect(Pipe pipe) {
+		try {
+			if(pipe != null && pipe.pipeHandle != null)
+				Kernel32.INSTANCE.DisconnectNamedPipe(pipe.pipeHandle);
+		} catch(Exception e) {
+		}
+	}
+	
+	public enum SteamVRInputRoles {
+		HEAD(TrackerBodyPosition.HMD),
+		LEFT_HAND(TrackerBodyPosition.LEFT_CONTROLLER),
+		RIGHT_HAND(TrackerBodyPosition.RIGHT_CONTROLLER),
+		LEFT_FOOT(TrackerBodyPosition.LEFT_FOOT),
+		RIGHT_FOOT(TrackerBodyPosition.RIGHT_FOOT),
+		LEFT_SHOULDER(TrackerBodyPosition.NONE),
+		RIGHT_SHOULDER(TrackerBodyPosition.NONE),
+		LEFT_ELBOW(TrackerBodyPosition.NONE),
+		RIGHT_ELBOW(TrackerBodyPosition.NONE),
+		LEFT_KNEE(TrackerBodyPosition.LEFT_LEG),
+		RIGHT_KNEE(TrackerBodyPosition.RIGHT_LEG),
+		WAIST(TrackerBodyPosition.WAIST),
+		CHEST(TrackerBodyPosition.CHEST),
+		;
+		
+		private static final SteamVRInputRoles[] values = values();
+		public final TrackerBodyPosition bodyPosition;
+		
+		private SteamVRInputRoles(TrackerBodyPosition slimeVrPosition) {
+			this.bodyPosition = slimeVrPosition;
+		}
+	}
+}

src/main/java/io/eiren/vr/processor/ComputedHumanPoseTrackerPosition.java

@@ -5,5 +5,7 @@ public enum ComputedHumanPoseTrackerPosition {
 	WAIST,
 	CHEST,
 	LEFT_FOOT,
-	RIGHT_FOOT;
+	RIGHT_FOOT,
+	LEFT_KNEE,
+	RIGHT_KNEE;
 }

src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java

@@ -19,11 +19,24 @@ public class HumanPoseProcessor {
 	private final List<Consumer<HumanSkeleton>> onSkeletonUpdated = new FastList<>();
 	private HumanSkeleton skeleton;
 
-	public HumanPoseProcessor(VRServer server, HMDTracker hmd) {
+	public HumanPoseProcessor(VRServer server, HMDTracker hmd, int trackersAmount) {
 		this.server = server;
 		computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.WAIST));
-		computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT));
-		computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT));
+		if(trackersAmount > 2) {
+			computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT));
+			computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT));
+			if(trackersAmount == 4 || trackersAmount >= 6) {
+				computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.CHEST));
+			}
+			if(trackersAmount >= 5) {
+				computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_KNEE));
+				computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_KNEE));
+			}
+		}
+	}
+	
+	public HumanSkeleton getSkeleton() {
+		return skeleton;
 	}
 
 	@VRServerThread
@@ -76,24 +89,22 @@ public class HumanPoseProcessor {
 		boolean hasBothLegs = false;
 		List<Tracker> allTrackers = server.getAllTrackers();
 		Tracker waist = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.WAIST, TrackerBodyPosition.CHEST);
-		Tracker leftAnkle = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.LEFT_ANKLE);
-		Tracker rightAnkle = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.RIGHT_ANKLE);
-		Tracker leftLeg = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.LEFT_LEG);
-		Tracker rightLeg = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.RIGHT_LEG);
+		Tracker leftAnkle = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.LEFT_ANKLE, TrackerBodyPosition.LEFT_LEG);
+		Tracker rightAnkle = TrackerUtils.findTrackerForBodyPosition(allTrackers, TrackerBodyPosition.RIGHT_ANKLE, TrackerBodyPosition.RIGHT_LEG);
 		if(waist != null)
 			hasWaist = true;
-		if(leftAnkle != null && rightAnkle != null && leftLeg != null && rightLeg != null)
+		if(leftAnkle != null && rightAnkle != null)
 			hasBothLegs = true;
 		if(!hasWaist) {
 			skeleton = null; // Can't track anything without waist
 		} else if(hasBothLegs) {
 			disconnectAllTrackers();
-			skeleton = new HumanSekeletonWithLegs(server, computedTrackers);
+			skeleton = new HumanSkeletonWithLegs(server, computedTrackers);
 			for(int i = 0; i < onSkeletonUpdated.size(); ++i)
 				onSkeletonUpdated.get(i).accept(skeleton);
 		} else {
 			disconnectAllTrackers();
-			skeleton = new HumanSkeleonWithWaist(server, computedTrackers);
+			skeleton = new HumanSkeletonWithWaist(server, computedTrackers);
 			for(int i = 0; i < onSkeletonUpdated.size(); ++i)
 				onSkeletonUpdated.get(i).accept(skeleton);
 		}
@@ -117,4 +128,10 @@ public class HumanPoseProcessor {
 		if(skeleton != null)
 			skeleton.resetTrackersFull();
 	}
+
+	@VRServerThread
+	public void resetTrackersYaw() {
+		if(skeleton != null)
+			skeleton.resetTrackersYaw();
+	}
 }

src/main/java/io/eiren/vr/processor/HumanSkeleton.java

@@ -24,4 +24,7 @@ public abstract class HumanSkeleton {
 
 	@VRServerThread
 	public abstract void resetTrackersFull();
+	
+	@VRServerThread
+	public abstract void resetTrackersYaw();
 }

src/main/java/io/eiren/vr/processor/HumanSkeletonWithLegs.java

@@ -12,25 +12,28 @@ import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerStatus;
 import io.eiren.vr.trackers.TrackerUtils;
 
-public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
+public class HumanSkeletonWithLegs extends HumanSkeletonWithWaist {
 	
 	public static final float HIPS_WIDTH_DEFAULT = 0.3f;
 	public static final float FOOT_LENGTH_DEFAULT = 0.05f;
 	public static final float DEFAULT_FLOOR_OFFSET = 0.05f;
 	
-	protected final float[] kneeAngles = new float[3];
-	protected final float[] hipAngles = new float[3];
 	protected final Quaternion hipBuf = new Quaternion();
 	protected final Quaternion kneeBuf = new Quaternion();
+	protected final Vector3f hipVector = new Vector3f();
+	protected final Vector3f ankleVector = new Vector3f();
+	protected final Quaternion kneeRotation = new Quaternion();
 	
 	protected final Tracker leftLegTracker;
 	protected final Tracker leftAnkleTracker;
 	protected final Tracker leftFootTracker;
 	protected final ComputedHumanPoseTracker computedLeftFootTracker;
+	protected final ComputedHumanPoseTracker computedLeftKneeTracker;
 	protected final Tracker rightLegTracker;
 	protected final Tracker rightAnkleTracker;
 	protected final Tracker rightFootTracker;
 	protected final ComputedHumanPoseTracker computedRightFootTracker;
+	protected final ComputedHumanPoseTracker computedRightKneeTracker;
 	
 	protected final TransformNode leftHipNode = new TransformNode("Left-Hip", false);
 	protected final TransformNode leftKneeNode = new TransformNode("Left-Knee", false);
@@ -59,33 +62,46 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 	protected float maxKneePitch = 90f * FastMath.DEG_TO_RAD;
 	
 	protected float kneeLerpFactor = 0.5f;
+	
+	protected boolean extendedPelvisModel = true;
+	protected boolean extendedKneeModel = false;
 
-	public HumanSekeletonWithLegs(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
+	public HumanSkeletonWithLegs(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
 		super(server, computedTrackers);
 		List<Tracker> allTracekrs = server.getAllTrackers();
-		this.leftLegTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.LEFT_LEG);
-		this.leftAnkleTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.LEFT_ANKLE);
+		this.leftLegTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.LEFT_LEG, TrackerBodyPosition.LEFT_ANKLE);
+		this.leftAnkleTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.LEFT_ANKLE, TrackerBodyPosition.LEFT_LEG);
 		this.leftFootTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.LEFT_FOOT);
-		this.rightLegTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.RIGHT_LEG);
-		this.rightAnkleTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.RIGHT_ANKLE);
+		this.rightLegTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.RIGHT_LEG, TrackerBodyPosition.RIGHT_ANKLE);
+		this.rightAnkleTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.RIGHT_ANKLE, TrackerBodyPosition.RIGHT_LEG);
 		this.rightFootTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.RIGHT_FOOT);
 		ComputedHumanPoseTracker lat = null;
 		ComputedHumanPoseTracker rat = null;
+		ComputedHumanPoseTracker rkt = null;
+		ComputedHumanPoseTracker lkt = null;
 		for(int i = 0; i < computedTrackers.size(); ++i) {
 			ComputedHumanPoseTracker t = computedTrackers.get(i);
 			if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.LEFT_FOOT)
 				lat = t;
 			if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.RIGHT_FOOT)
 				rat = t;
+			if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.LEFT_KNEE)
+				lkt = t;
+			if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.RIGHT_KNEE)
+				rkt = t;
 		}
 		computedLeftFootTracker = lat;
 		computedRightFootTracker = rat;
+		computedLeftKneeTracker = lkt;
+		computedRightKneeTracker = rkt;
 		lat.setStatus(TrackerStatus.OK);
 		rat.setStatus(TrackerStatus.OK);
 		hipsWidth = server.config.getFloat("body.hipsWidth", hipsWidth);
 		kneeHeight = server.config.getFloat("body.kneeHeight", kneeHeight);
 		legsLength = server.config.getFloat("body.legsLength", legsLength);
 		footLength = server.config.getFloat("body.footLength", footLength);
+		extendedPelvisModel = server.config.getBoolean("body.model.extendedPelvis", extendedPelvisModel);
+		extendedKneeModel = server.config.getBoolean("body.model.extendedKnee", extendedKneeModel);
 		
 		waistNode.attachChild(leftHipNode);
 		leftHipNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
@@ -181,6 +197,34 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		}
 	}
 	
+	@Override
+	public boolean getSkeletonConfigBoolean(String config) {
+		switch(config) {
+		case "Extended pelvis model":
+			return extendedPelvisModel;
+		case "Extended knee model":
+			return extendedKneeModel;
+		}
+		return super.getSkeletonConfigBoolean(config);
+	}
+	
+	@Override
+	public void setSkeletonConfigBoolean(String config, boolean newState) {
+		switch(config) {
+		case "Extended pelvis model":
+			extendedPelvisModel = newState;
+			server.config.setProperty("body.model.extendedPelvis", newState);
+			break;
+		case "Extended knee model":
+			extendedKneeModel = newState;
+			server.config.setProperty("body.model.extendedKnee", newState);
+			break;
+		default:
+			super.setSkeletonConfigBoolean(config, newState);
+			break;
+		}
+	}
+	
 	@Override
 	public void updateLocalTransforms() {
 		super.updateLocalTransforms();
@@ -188,7 +232,8 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		leftLegTracker.getRotation(hipBuf);
 		leftAnkleTracker.getRotation(kneeBuf);
 
-		//calculateKneeLimits(hipBuf, kneeBuf, leftLegTracker.getConfidenceLevel(), leftAnkleTracker.getConfidenceLevel());
+		if(extendedKneeModel)
+			calculateKneeLimits(hipBuf, kneeBuf, leftLegTracker.getConfidenceLevel(), leftAnkleTracker.getConfidenceLevel());
 		
 		leftHipNode.localTransform.setRotation(hipBuf);
 		leftKneeNode.localTransform.setRotation(kneeBuf);
@@ -205,7 +250,8 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		rightLegTracker.getRotation(hipBuf);
 		rightAnkleTracker.getRotation(kneeBuf);
 		
-		//calculateKneeLimits(hipBuf, kneeBuf, rightLegTracker.getConfidenceLevel(), rightAnkleTracker.getConfidenceLevel());
+		if(extendedKneeModel)
+			calculateKneeLimits(hipBuf, kneeBuf, rightLegTracker.getConfidenceLevel(), rightAnkleTracker.getConfidenceLevel());
 		
 		rightHipNode.localTransform.setRotation(hipBuf);
 		rightKneeNode.localTransform.setRotation(kneeBuf);
@@ -217,20 +263,36 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 			rightAnkleNode.localTransform.setRotation(kneeBuf);
 			rightFootNode.localTransform.setRotation(kneeBuf);
 		}
-		
-		// TODO Calculate waist node as some function between waist and hip rotations
+
+		if(extendedPelvisModel) {
+			// Average pelvis between two legs
+			leftHipNode.localTransform.getRotation(hipBuf);
+			rightHipNode.localTransform.getRotation(kneeBuf);
+			kneeBuf.slerp(hipBuf, 0.5f);
+			waistNode.localTransform.setRotation(kneeBuf);
+			// TODO : Use vectors to add like 50% of wasit tracker yaw to waist node to reduce drift and let user take weird poses
+			// TODO Set virtual waist node yaw to that of waist node
+		}
 	}
 	
-	// Knee basically has only 1 DoF (pitch), average yaw between knee and hip
+	// Knee basically has only 1 DoF (pitch), average yaw and roll between knee and hip
 	protected void calculateKneeLimits(Quaternion hipBuf, Quaternion kneeBuf, float hipConfidense, float kneeConfidense) {
-		hipBuf.toAngles(hipAngles);
-		kneeBuf.toAngles(kneeAngles);
+		ankleVector.set(0, -1, 0);
+		hipVector.set(0, -1, 0);
+		hipBuf.multLocal(hipVector);
+		kneeBuf.multLocal(ankleVector);
+		kneeRotation.angleBetweenVectors(hipVector, ankleVector); // Find knee angle
 		
-		hipAngles[1] = kneeAngles[1] = interpolateRadians(kneeLerpFactor, kneeAngles[1], hipAngles[1]);
-		//hipAngles[2] = kneeAngles[2] = interpolateRadians(kneeLerpFactor, kneeAngles[2], hipAngles[2]);
+		// Substract knee angle from knee rotation. With perfect leg and perfect
+		// sensors result should match hip rotation perfectly
+		kneeBuf.multLocal(kneeRotation.inverse());
 		
-		hipBuf.fromAngles(hipAngles);
-		kneeBuf.fromAngles(kneeAngles);
+		// Average knee and hip with a slerp
+		hipBuf.slerp(kneeBuf, 0.5f); // TODO : Use confidence to calculate changeAmt
+		kneeBuf.set(hipBuf);
+
+		// Return knee angle into knee rotation
+		kneeBuf.multLocal(kneeRotation);
 	}
 	
 	public static float normalizeRad(float angle) {
@@ -254,13 +316,29 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 	protected void updateComputedTrackers() {
 		super.updateComputedTrackers();
 		
-		computedLeftFootTracker.position.set(leftFootNode.worldTransform.getTranslation());
-		computedLeftFootTracker.rotation.set(leftFootNode.worldTransform.getRotation());
-		computedLeftFootTracker.dataTick();
+		if(computedLeftFootTracker != null) {
+			computedLeftFootTracker.position.set(leftFootNode.worldTransform.getTranslation());
+			computedLeftFootTracker.rotation.set(leftFootNode.worldTransform.getRotation());
+			computedLeftFootTracker.dataTick();
+		}
 		
-		computedRightFootTracker.position.set(rightFootNode.worldTransform.getTranslation());
-		computedRightFootTracker.rotation.set(rightFootNode.worldTransform.getRotation());
-		computedRightFootTracker.dataTick();
+		if(computedLeftKneeTracker != null) {
+			computedLeftKneeTracker.position.set(leftKneeNode.worldTransform.getTranslation());
+			computedLeftKneeTracker.rotation.set(leftHipNode.worldTransform.getRotation());
+			computedLeftKneeTracker.dataTick();
+		}
+		
+		if(computedRightFootTracker != null) {
+			computedRightFootTracker.position.set(rightFootNode.worldTransform.getTranslation());
+			computedRightFootTracker.rotation.set(rightFootNode.worldTransform.getRotation());
+			computedRightFootTracker.dataTick();
+		}
+		
+		if(computedRightKneeTracker != null) {
+			computedRightKneeTracker.position.set(rightKneeNode.worldTransform.getTranslation());
+			computedRightKneeTracker.rotation.set(rightHipNode.worldTransform.getRotation());
+			computedRightKneeTracker.dataTick();
+		}
 	}
 	
 	@Override
@@ -289,8 +367,39 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		this.rightAnkleTracker.resetFull(referenceRotation);
 		this.rightAnkleTracker.getRotation(referenceRotation);
 		
-		if(this.rightAnkleTracker != null) {
-			this.rightAnkleTracker.resetFull(referenceRotation);
+		if(this.rightFootTracker != null) {
+			this.rightFootTracker.resetFull(referenceRotation);
+		}
+	}
+	
+	@Override
+	@VRServerThread
+	public void resetTrackersYaw() {
+		// Each tracker uses the tracker before it to adjust iteself,
+		// so trackers that don't need adjustments could be used too
+		super.resetTrackersYaw();
+		// Start with waist, it was reset in the parent
+		Quaternion referenceRotation = new Quaternion();
+		this.waistTracker.getRotation(referenceRotation);
+		
+		this.leftLegTracker.resetYaw(referenceRotation);
+		this.rightLegTracker.resetYaw(referenceRotation);
+		this.leftLegTracker.getRotation(referenceRotation);
+		
+		this.leftAnkleTracker.resetYaw(referenceRotation);
+		this.leftAnkleTracker.getRotation(referenceRotation);
+		
+		if(this.leftFootTracker != null) {
+			this.leftFootTracker.resetYaw(referenceRotation);
+		}
+
+		this.rightLegTracker.getRotation(referenceRotation);
+		
+		this.rightAnkleTracker.resetYaw(referenceRotation);
+		this.rightAnkleTracker.getRotation(referenceRotation);
+		
+		if(this.rightFootTracker != null) {
+			this.rightFootTracker.resetYaw(referenceRotation);
 		}
 	}
 }

src/main/java/io/eiren/vr/processor/HumanSkeletonWithWaist.java

@@ -14,14 +14,14 @@ import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerStatus;
 import io.eiren.vr.trackers.TrackerUtils;
 
-public class HumanSkeleonWithWaist extends HumanSkeleton {
+public class HumanSkeletonWithWaist extends HumanSkeleton {
 	
 	public static final float HEAD_SHIFT_DEFAULT = 0.1f;
 	public static final float NECK_LENGTH_DEFAULT = 0.1f;
 	
 	protected final Map<String, Float> configMap = new HashMap<>();
 	protected final VRServer server;
-
+	
 	protected final float[] waistAngles = new float[3];
 	protected final Quaternion qBuf = new Quaternion();
 	protected final Vector3f vBuf = new Vector3f();
@@ -30,6 +30,7 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 	protected final Tracker chestTracker;
 	protected final HMDTracker hmdTracker;
 	protected final ComputedHumanPoseTracker computedWaistTracker;
+	protected final ComputedHumanPoseTracker computedChestTracker;
 	protected final TransformNode hmdNode = new TransformNode("HMD", false);
 	protected final TransformNode headNode = new TransformNode("Head", false);
 	protected final TransformNode neckNode = new TransformNode("Neck", false);
@@ -56,20 +57,24 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 	 * Distance from eyes to ear
 	 */
 	protected float headShift = HEAD_SHIFT_DEFAULT;
-
-	public HumanSkeleonWithWaist(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
+	
+	public HumanSkeletonWithWaist(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
 		List<Tracker> allTracekrs = server.getAllTrackers();
 		this.waistTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.WAIST, TrackerBodyPosition.CHEST);
 		this.chestTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.CHEST, TrackerBodyPosition.WAIST);
 		this.hmdTracker = server.hmdTracker;
 		this.server = server;
 		ComputedHumanPoseTracker cwt = null;
+		ComputedHumanPoseTracker cct = null;
 		for(int i = 0; i < computedTrackers.size(); ++i) {
 			ComputedHumanPoseTracker t = computedTrackers.get(i);
 			if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.WAIST)
 				cwt = t;
+			if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.CHEST)
+				cct = t;
 		}
 		computedWaistTracker = cwt;
+		computedChestTracker = cct;
 		cwt.setStatus(TrackerStatus.OK);
 		headShift = server.config.getFloat("body.headShift", headShift);
 		neckLength = server.config.getFloat("body.neckLength", neckLength);
@@ -109,16 +114,16 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 			resetSkeletonConfig("Waist");
 			resetSkeletonConfig("Chest");
 			break;
-		case "Head": 
+		case "Head":
 			setSkeletonConfig(joint, HEAD_SHIFT_DEFAULT);
 			break;
-		case "Neck": 
+		case "Neck":
 			setSkeletonConfig(joint, NECK_LENGTH_DEFAULT);
 			break;
-		case "Virtual waist": 
+		case "Virtual waist":
 			setSkeletonConfig(joint, 0.0f);
 			break;
-		case "Chest": 
+		case "Chest":
 			setSkeletonConfig(joint, waistDistance / 2.0f);
 			break;
 		case "Waist": // Puts Waist in the middle of the height
@@ -136,7 +141,7 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 	public Map<String, Float> getSkeletonConfig() {
 		return configMap;
 	}
-
+	
 	@Override
 	public void setSkeletonConfig(String joint, float newLength) {
 		configMap.put(joint, newLength);
@@ -172,6 +177,13 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 		}
 	}
 	
+	public boolean getSkeletonConfigBoolean(String config) {
+		return false;
+	}
+	
+	public void setSkeletonConfigBoolean(String config, boolean newState) {
+	}
+	
 	@Override
 	public TransformNode getRootNode() {
 		return hmdNode;
@@ -193,7 +205,7 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 			hmdNode.localTransform.setRotation(qBuf);
 			headNode.localTransform.setRotation(qBuf);
 		}
-			
+		
 		if(chestTracker.getRotation(qBuf))
 			neckNode.localTransform.setRotation(qBuf);
 		
@@ -205,9 +217,17 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 	}
 	
 	protected void updateComputedTrackers() {
-		computedWaistTracker.position.set(trackerWaistNode.worldTransform.getTranslation());
-		computedWaistTracker.rotation.set(trackerWaistNode.worldTransform.getRotation());
-		computedWaistTracker.dataTick();
+		if(computedWaistTracker != null) {
+			computedWaistTracker.position.set(trackerWaistNode.worldTransform.getTranslation());
+			computedWaistTracker.rotation.set(trackerWaistNode.worldTransform.getRotation());
+			computedWaistTracker.dataTick();
+		}
+		
+		if(computedChestTracker != null) {
+			computedChestTracker.position.set(chestNode.worldTransform.getTranslation());
+			computedChestTracker.rotation.set(neckNode.worldTransform.getRotation());
+			computedChestTracker.dataTick();
+		}
 	}
 	
 	@Override
@@ -223,4 +243,18 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 		
 		this.waistTracker.resetFull(referenceRotation);
 	}
+	
+	@Override
+	@VRServerThread
+	public void resetTrackersYaw() {
+		// Each tracker uses the tracker before it to adjust iteself,
+		// so trackers that don't need adjustments could be used too
+		Quaternion referenceRotation = new Quaternion();
+		server.hmdTracker.getRotation(referenceRotation);
+		
+		this.chestTracker.resetYaw(referenceRotation);
+		this.chestTracker.getRotation(referenceRotation);
+		
+		this.waistTracker.resetYaw(referenceRotation);
+	}
 }

src/main/java/io/eiren/vr/processor/TrackerBodyPosition.java

@@ -15,6 +15,8 @@ public enum TrackerBodyPosition {
 	RIGHT_ANKLE("body:right_ankle"),
 	LEFT_FOOT("body:left_foot"),
 	RIGHT_FOOT("body:right_foot"),
+	LEFT_CONTROLLER("body:left_controller"),
+	RIGHT_CONTROLLER("body:right_conroller"),
 	;
 	
 	public final String designation;

src/main/java/io/eiren/vr/trackers/BnoTap.java

@@ -0,0 +1,21 @@
+package io.eiren.vr.trackers;
+
+public class BnoTap {
+	
+	public final boolean doubleTap;
+	
+	public BnoTap(int tapBits) {
+		doubleTap = (tapBits & 0x40) > 0;
+	}
+	
+	@Override
+	public String toString() {
+		return "Tap{" + (doubleTap ? "double" : "") + "}";
+	}
+	
+	public enum TapAxis {
+		X,
+		Y,
+		Z;
+	}
+}

src/main/java/io/eiren/vr/trackers/ComputedTracker.java

@@ -80,4 +80,8 @@ public class ComputedTracker implements Tracker {
 	public boolean userEditable() {
 		return false;
 	}
+
+	@Override
+	public void tick() {
+	}
 }

src/main/java/io/eiren/vr/trackers/IMUReferenceAdjustedTracker.java

@@ -1,29 +0,0 @@
-package io.eiren.vr.trackers;
-
-public class IMUReferenceAdjustedTracker<T extends IMUTracker & TrackerWithTPS & TrackerWithBattery> extends ReferenceAdjustedTracker<T> implements TrackerWithTPS, TrackerWithBattery {
-	
-	public IMUReferenceAdjustedTracker(T tracker) {
-		super(tracker);
-	}
-
-	@Override
-	public float getBatteryLevel() {
-		return tracker.getBatteryLevel();
-	}
-
-	@Override
-	public float getBatteryVoltage() {
-		return tracker.getBatteryVoltage();
-	}
-
-	@Override
-	public float getTPS() {
-		return tracker.getTPS();
-	}
-
-	@Override
-	public void dataTick() {
-		tracker.dataTick();
-	}
-	
-}

src/main/java/io/eiren/vr/trackers/IMUTracker.java

@@ -1,5 +1,6 @@
 package io.eiren.vr.trackers;
 
+import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
@@ -9,11 +10,15 @@ import io.eiren.vr.processor.TrackerBodyPosition;
 
 public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	
+	public static final float MAX_MAG_CORRECTION_ACCURACY = 5 * FastMath.RAD_TO_DEG;
+	
 	public final Vector3f gyroVector = new Vector3f();
 	public final Vector3f accelVector = new Vector3f();
 	public final Vector3f magVector = new Vector3f();
 	public final Quaternion rotQuaternion = new Quaternion();
+	public final Quaternion rotMagQuaternion = new Quaternion();
 	protected final Quaternion rotAdjust = new Quaternion();
+	protected final Quaternion correction = new Quaternion();
 	protected TrackerMountingRotation mounting = null;
 	protected TrackerStatus status = TrackerStatus.OK;
 	
@@ -21,6 +26,11 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	protected final TrackersUDPServer server;
 	protected float confidence = 0;
 	protected float batteryVoltage = 0;
+	public int calibrationStatus = 0;
+	public int magCalibrationStatus = 0;
+	public float magnetometerAccuracy = 0;
+	protected boolean magentometerCalibrated = false;
+	public boolean hasNewCorrectionData = false;
 	
 	protected BufferedTimer timer = new BufferedTimer(1f);
 	public int ping = -1;
@@ -68,6 +78,18 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 		}
 	}
 	
+	@Override
+	public void tick() {
+		if(magentometerCalibrated && hasNewCorrectionData) {
+			hasNewCorrectionData = false;
+			if(magnetometerAccuracy <= MAX_MAG_CORRECTION_ACCURACY) {
+				// Adjust gyro rotation to match magnetometer rotation only if magnetometer
+				// accuracy is within the parameters
+				calculateLiveMagnetometerCorrection();
+			}
+		}
+	}
+	
 	@Override
 	public String getName() {
 		return this.name;
@@ -82,9 +104,14 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	@Override
 	public boolean getRotation(Quaternion store) {
 		store.set(rotQuaternion);
+		//correction.mult(store, store); // Correction is not used now to preven accidental errors while debugging other things
 		store.multLocal(rotAdjust);
 		return true;
 	}
+	
+	public void getCorrection(Quaternion store) {
+		store.set(correction);
+	}
 
 	@Override
 	public TrackerStatus getStatus() {
@@ -130,10 +157,31 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 
 	@Override
 	public void resetFull(Quaternion reference) {
+		resetYaw(reference);
 	}
 
+	/**
+	 * Does not perform actual gyro reset to reference, that's the task of
+	 * reference adjusted tracker. Only aligns gyro with magnetometer if
+	 * it's reliable
+	 */
 	@Override
 	public void resetYaw(Quaternion reference) {
+		if(magCalibrationStatus >= CalibrationAccuracy.HIGH.status) {
+			magentometerCalibrated = true;
+			// During calibration set correction to match magnetometer readings exactly
+			// TODO : Correct only yaw
+			correction.set(rotQuaternion).inverseLocal().multLocal(rotMagQuaternion);
+		}
+	}
+	
+	/**
+	 * Calculate correction between normal and magnetometer
+	 * readings up to accuracy threshold
+	 */
+	protected void calculateLiveMagnetometerCorrection() {
+		// TODO Magic, correct only yaw
+		// TODO Print "jump" length when correcing if it's more than 1 degree
 	}
 
 	@Override
@@ -150,4 +198,31 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	public boolean userEditable() {
 		return true;
 	}
+	
+	public enum CalibrationAccuracy {
+		
+		UNRELIABLE(0),
+		LOW(1),
+		MEDIUM(2),
+		HIGH(3),
+		;
+		
+		private static final CalibrationAccuracy[] byStatus = new CalibrationAccuracy[4];
+		public final int status;
+		
+		private CalibrationAccuracy(int status) {
+			this.status = status;
+		}
+		
+		public static CalibrationAccuracy getByStatus(int status) {
+			if(status < 0 || status > 3)
+				return null;
+			return byStatus[status];
+		}
+		
+		static {
+			for(CalibrationAccuracy ca : values())
+				byStatus[ca.status] = ca;
+		}
+	}
 }

src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java

@@ -8,8 +8,9 @@ import io.eiren.vr.processor.TrackerBodyPosition;
 public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	
 	public final E tracker;
-	public final Quaternion adjustmentYaw = new Quaternion();
-	public final Quaternion adjustmentAttachment = new Quaternion();
+	public final Quaternion yawFix = new Quaternion();
+	public final Quaternion gyroFix = new Quaternion();
+	public final Quaternion attachmentFix = new Quaternion();
 	protected float confidenceMultiplier = 1.0f;
 	
 	public ReferenceAdjustedTracker(E tracker) {
@@ -44,14 +45,15 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	 */
 	@Override
 	public void resetFull(Quaternion reference) {
+		tracker.resetFull(reference);
+		fixGyroscope();
+		
 		Quaternion sensorRotation = new Quaternion();
 		tracker.getRotation(sensorRotation);
-		//float[] angles = new float[3];
-		//sensorRotation.toAngles(angles);
-		//sensorRotation.fromAngles(angles[0], 0, angles[2]);
-		adjustmentAttachment.set(sensorRotation).inverseLocal();
+		gyroFix.mult(sensorRotation, sensorRotation);
+		attachmentFix.set(sensorRotation).inverseLocal();
 		
-		resetYaw(reference);
+		fixYaw(reference);
 	}
 
 	/**
@@ -63,6 +65,11 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	 */
 	@Override
 	public void resetYaw(Quaternion reference) {
+		tracker.resetYaw(reference);
+		fixYaw(reference);
+	}
+	
+	private void fixYaw(Quaternion reference) {
 		// Use only yaw HMD rotation
 		Quaternion targetTrackerRotation = new Quaternion(reference);
 		float[] angles = new float[3];
@@ -71,21 +78,31 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 		
 		Quaternion sensorRotation = new Quaternion();
 		tracker.getRotation(sensorRotation);
-		adjustmentAttachment.mult(sensorRotation, sensorRotation);
-		//sensorRotation.multLocal(adjustmentAttachment);
+		gyroFix.mult(sensorRotation, sensorRotation);
+		sensorRotation.multLocal(attachmentFix);
 		
 		sensorRotation.toAngles(angles);
 		sensorRotation.fromAngles(0, angles[1], 0);
 		
-		adjustmentYaw.set(sensorRotation).inverseLocal().multLocal(targetTrackerRotation);
+		yawFix.set(sensorRotation).inverseLocal().multLocal(targetTrackerRotation);
+	}
+	
+	private void fixGyroscope() {
+		float[] angles = new float[3];
 		
-		confidenceMultiplier = 1.0f / tracker.getConfidenceLevel();
+		Quaternion sensorRotation = new Quaternion();
+		tracker.getRotation(sensorRotation);
+		
+		sensorRotation.toAngles(angles);
+		sensorRotation.fromAngles(0, angles[1], 0);
+		
+		gyroFix.set(sensorRotation).inverseLocal();
 	}
 	
 	protected void adjustInternal(Quaternion store) {
-		//store.multLocal(adjustmentAttachment);
-		adjustmentAttachment.mult(store, store);
-		adjustmentYaw.mult(store, store);
+		gyroFix.mult(store, store);
+		store.multLocal(attachmentFix);
+		yawFix.mult(store, store);
 	}
 	
 	@Override
@@ -124,4 +141,9 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	public void setBodyPosition(TrackerBodyPosition position) {
 		tracker.setBodyPosition(position);
 	}
+
+	@Override
+	public void tick() {
+		tracker.tick();
+	}
 }

src/main/java/io/eiren/vr/trackers/SteamVRTracker.java

@@ -0,0 +1,24 @@
+package io.eiren.vr.trackers;
+
+import io.eiren.util.BufferedTimer;
+
+public class SteamVRTracker extends ComputedTracker implements TrackerWithTPS {
+
+	public final int id;
+	protected BufferedTimer timer = new BufferedTimer(1f);
+	
+	public SteamVRTracker(int id, String name) {
+		super(name);
+		this.id = id;
+	}
+	
+	@Override
+	public float getTPS() {
+		return timer.getAverageFPS();
+	}
+	
+	@Override
+	public void dataTick() {
+		timer.update();
+	}
+}

src/main/java/io/eiren/vr/trackers/Tracker.java

@@ -25,6 +25,8 @@ public interface Tracker {
 	
 	public void resetYaw(Quaternion reference);
 	
+	public void tick();
+	
 	public TrackerBodyPosition getBodyPosition();
 	
 	public void setBodyPosition(TrackerBodyPosition position);

src/main/java/io/eiren/vr/trackers/TrackerStatus.java

@@ -2,15 +2,31 @@ package io.eiren.vr.trackers;
 
 public enum TrackerStatus {
 	
-	DISCONNECTED(false),
-	OK(true),
-	BUSY(true),
-	ERROR(false),
+	DISCONNECTED(0, false),
+	OK(1, true),
+	BUSY(2, true),
+	ERROR(3, false),
+	OCCLUDED(4, false),
 	;
 	
+	private static final TrackerStatus byId[] = new TrackerStatus[5];
+	
+	public final int id;
 	public final boolean sendData;
 	
-	private TrackerStatus(boolean sendData) {
+	private TrackerStatus(int id, boolean sendData) {
 		this.sendData = sendData;
+		this.id = id;
+	}
+	
+	public static TrackerStatus getById(int id) {
+		if(id < 0 || id >= byId.length)
+			return null;
+		return byId[id];
+	}
+	
+	static {
+		for(TrackerStatus st : values())
+			byId[st.id] = st;
 	}
 }

src/main/java/io/eiren/vr/trackers/TrackersUDPServer.java

@@ -4,6 +4,7 @@ import java.io.IOException;
 import java.io.UnsupportedEncodingException;
 import java.net.DatagramPacket;
 import java.net.DatagramSocket;
+import java.net.InetAddress;
 import java.net.SocketAddress;
 import java.net.SocketTimeoutException;
 import java.nio.ByteBuffer;
@@ -39,7 +40,7 @@ public class TrackersUDPServer extends Thread {
 	private final Quaternion buf = new Quaternion();
 	private final Random random = new Random();
 	private final List<TrackerConnection> trackers = new FastList<>();
-	private final Map<SocketAddress, TrackerConnection> trackersMap = new HashMap<>();
+	private final Map<InetAddress, TrackerConnection> trackersMap = new HashMap<>();
 	private final Map<Tracker, Consumer<String>> calibrationDataRequests = new HashMap<>();
 	private final Consumer<Tracker> trackersConsumer;
 	private final int port;
@@ -55,22 +56,27 @@ public class TrackersUDPServer extends Thread {
 	
 	private void setUpNewSensor(DatagramPacket handshakePacket, ByteBuffer data) throws IOException {
 		System.out.println("[TrackerServer] Handshake recieved from " + handshakePacket.getAddress() + ":" + handshakePacket.getPort());
-		SocketAddress addr = handshakePacket.getSocketAddress();
+		InetAddress addr = handshakePacket.getAddress();
 		TrackerConnection sensor;
 		synchronized(trackers) {
 			sensor = trackersMap.get(addr);
 		}
 		if(sensor == null) {
+			boolean isOwo = false;
 			data.getLong(); // Skip packet number
 			int boardType = -1;
 			int imuType = -1;
 			int firmwareBuild = -1;
-			StringBuilder sb = new StringBuilder();
+			StringBuilder firmware = new StringBuilder();
+			byte[] mac = new byte[6];
+			String macString = null;
 			if(data.remaining() > 0) {
 				if(data.remaining() > 3)
 					boardType = data.getInt();
 				if(data.remaining() > 3)
 					imuType = data.getInt();
+				if(data.remaining() > 3)
+					data.getInt(); // MCU TYPE
 				if(data.remaining() > 11) {
 					data.getInt(); // IMU info
 					data.getInt();
@@ -78,38 +84,47 @@ public class TrackersUDPServer extends Thread {
 				}
 				if(data.remaining() > 3)
 					firmwareBuild = data.getInt();
-				while(true) {
-					if(data.remaining() == 0)
-						break;
+				int length = 0;
+				if(data.remaining() > 0)
+					length = data.get() & 0xFF; // firmware version length is 1 longer than that because it's nul-terminated
+				while(length > 0 && data.remaining() != 0) {
 					char c = (char) data.get();
 					if(c == 0)
 						break;
-					sb.append(c);
+					firmware.append(c);
+					length--;
+				}
+				if(data.remaining() > mac.length) {
+					data.get(mac);
+					macString = String.format("%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
 				}
 			}
-			if(sb.length() == 0)
-				sb.append("owoTrack");
+			if(firmware.length() == 0) {
+				firmware.append("owoTrack");
+				isOwo = true;
+			}
 			IMUTracker imu = new IMUTracker("udp:/" + handshakePacket.getAddress().toString(), this);
-			IMUReferenceAdjustedTracker<IMUTracker> adjustedTracker = new IMUReferenceAdjustedTracker<>(imu);
+			ReferenceAdjustedTracker<IMUTracker> adjustedTracker = new ReferenceAdjustedTracker<>(imu);
 			trackersConsumer.accept(adjustedTracker);
-			sensor = new TrackerConnection(imu, addr);
+			sensor = new TrackerConnection(imu, handshakePacket.getSocketAddress());
+			sensor.isOwoTrack = isOwo;
 			int i = 0;
 			synchronized(trackers) {
 				i = trackers.size();
 				trackers.add(sensor);
 				trackersMap.put(addr, sensor);
 			}
-			System.out.println("[TrackerServer] Sensor " + i + " added with address " + addr + ". Board type: " + boardType + ", imu type: " + imuType + ", firmware: " + sb + " (" + firmwareBuild + ")");
+			System.out.println("[TrackerServer] Sensor " + i + " added with address " + handshakePacket.getSocketAddress() + ". Board type: " + boardType + ", imu type: " + imuType + ", firmware: " + firmware + " (" + firmwareBuild + "), mac: " + macString);
 		}
 		sensor.tracker.setStatus(TrackerStatus.OK);
         socket.send(new DatagramPacket(HANDSHAKE_BUFFER, HANDSHAKE_BUFFER.length, handshakePacket.getAddress(), handshakePacket.getPort()));
 	}
 	
-	private void setUpAuxialrySensor(TrackerConnection connection) throws IOException {
+	private void setUpAuxilarySensor(TrackerConnection connection) throws IOException {
 		System.out.println("[TrackerServer] Setting up auxilary sensor for " + connection.tracker.getName());
 		IMUTracker imu = new IMUTracker(connection.tracker.getName() + "/1", this);
 		connection.secondTracker = imu;
-		IMUReferenceAdjustedTracker<IMUTracker> adjustedTracker = new IMUReferenceAdjustedTracker<>(imu);
+		ReferenceAdjustedTracker<IMUTracker> adjustedTracker = new ReferenceAdjustedTracker<>(imu);
 		trackersConsumer.accept(adjustedTracker);
 		System.out.println("[TrackerServer] Sensor added with address " + imu.getName());
 	}
@@ -129,12 +144,13 @@ public class TrackersUDPServer extends Thread {
 					socket.receive(recieve);
 					bb.rewind();
 
-					TrackerConnection sensor;
+					TrackerConnection connection;
+					IMUTracker tracker = null;
 					synchronized(trackers) {
-						sensor = trackersMap.get(recieve.getSocketAddress());
+						connection = trackersMap.get(recieve.getAddress());
 					}
-					if(sensor != null)
-						sensor.lastPacket = System.currentTimeMillis();
+					if(connection != null)
+						connection.lastPacket = System.currentTimeMillis();
 					int packetId;
 					switch(packetId = bb.getInt()) {
 					case 0:
@@ -144,90 +160,154 @@ public class TrackersUDPServer extends Thread {
 						break;
 					case 1: // PACKET_ROTATION
 					case 16: // PACKET_ROTATION_2
-						if(sensor == null)
+						if(connection == null)
 							break;
 						bb.getLong();
 						buf.set(bb.getFloat(), bb.getFloat(), bb.getFloat(), bb.getFloat());
 						offset.mult(buf, buf);
-						IMUTracker tracker;
 						if(packetId == 1) {
-							tracker = sensor.tracker;
+							tracker = connection.tracker;
 						} else {
-							tracker = sensor.secondTracker;
+							tracker = connection.secondTracker;
 						}
 						if(tracker == null)
 							break;
 						tracker.rotQuaternion.set(buf);
 						tracker.dataTick();
 						break;
-					case 2:
-						if(sensor == null)
+					case 17: // PACKET_ROTATION_DATA
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						bb.getLong();
-						sensor.tracker.gyroVector.set(bb.getFloat(), bb.getFloat(), bb.getFloat());
+						int sensorId = bb.get() & 0xFF;
+						if(sensorId == 0) {
+							tracker = connection.tracker;
+						} else if(sensorId == 1) {
+							tracker = connection.secondTracker;
+						}
+						if(tracker == null)
+							break;
+						
+						int dataType = bb.get() & 0xFF;
+						buf.set(bb.getFloat(), bb.getFloat(), bb.getFloat(), bb.getFloat());
+						offset.mult(buf, buf);
+						int calibrationInfo = bb.get() & 0xFF;
+						
+						switch(dataType) {
+						case 1: // DATA_TYPE_NORMAL
+							tracker.rotQuaternion.set(buf);
+							tracker.calibrationStatus = calibrationInfo;
+							tracker.dataTick();
+							break;
+						case 2: // DATA_TYPE_CORRECTION
+							tracker.rotMagQuaternion.set(buf);
+							tracker.magCalibrationStatus = calibrationInfo;
+							tracker.hasNewCorrectionData = true;
+							break;
+						}
+						break;
+					case 18: // PACKET_MAGENTOMETER_ACCURACY
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
+							break;
+						bb.getLong();
+						sensorId = bb.get() & 0xFF;
+						if(sensorId == 0) {
+							tracker = connection.tracker;
+						} else if(sensorId == 1) {
+							tracker = connection.secondTracker;
+						}
+						if(tracker == null)
+							break;
+						float accuracyInfo = bb.getFloat();
+						tracker.magnetometerAccuracy = accuracyInfo;
+						// TODO
+						break;
+					case 2:
+						if(connection == null)
+							break;
+						bb.getLong();
+						connection.tracker.gyroVector.set(bb.getFloat(), bb.getFloat(), bb.getFloat());
 						break;
 					case 4:
-						if(sensor == null)
+						if(connection == null)
 							break;
 						bb.getLong();
 						float x = bb.getFloat();
 						float z = bb.getFloat();
 						float y = bb.getFloat();
-						sensor.tracker.accelVector.set(x, y, z);
+						connection.tracker.accelVector.set(x, y, z);
 						break;
 					case 5:
-						if(sensor == null)
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						bb.getLong();
 						x = bb.getFloat();
 						z = bb.getFloat();
 						y = bb.getFloat();
-						sensor.tracker.magVector.set(x, y, z);
+						connection.tracker.magVector.set(x, y, z);
 						break;
 					case 6: // PACKET_RAW_CALIBRATION_DATA
-						if(sensor == null)
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						bb.getLong();
 						//sensor.rawCalibrationData.add(new double[] {bb.getInt(), bb.getInt(), bb.getInt(), bb.getInt(), bb.getInt(), bb.getInt()});
 						break;
 					case 7: // PACKET_GYRO_CALIBRATION_DATA
-						if(sensor == null)
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						bb.getLong();
 						//sensor.gyroCalibrationData = new double[] {bb.getFloat(), bb.getFloat(), bb.getFloat()};
 						break;
 					case 8: // PACKET_CONFIG
-						if(sensor == null)
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						bb.getLong();
 						MPUTracker.ConfigurationData data = new MPUTracker.ConfigurationData(bb);
-						Consumer<String> dataConsumer = calibrationDataRequests.remove(sensor.tracker);
+						Consumer<String> dataConsumer = calibrationDataRequests.remove(connection.tracker);
 						if(dataConsumer != null) {
 							dataConsumer.accept(data.toTextMatrix());
 						}
 						break;
 					case 9: // PACKET_RAW_MAGENTOMETER
-						if(sensor == null)
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						bb.getLong();
 						float mx = bb.getFloat();
 						float my = bb.getFloat();
 						float mz = bb.getFloat();
-						sensor.tracker.confidence = (float) Math.sqrt(mx * mx + my * my + mz * mz);
+						connection.tracker.confidence = (float) Math.sqrt(mx * mx + my * my + mz * mz);
 						break;
 					case 10: // PACKET_PING_PONG:
-						if(sensor == null)
+						if(connection == null)
+							break;
+						if(connection.isOwoTrack)
 							break;
 						int pingId = bb.getInt();
-						if(sensor.lastPingPacketId == pingId) {
-							tracker = sensor.tracker;
-							tracker.ping = (int) (System.currentTimeMillis() - sensor.lastPingPacketTime) / 2;
+						if(connection.lastPingPacketId == pingId) {
+							tracker = connection.tracker;
+							tracker.ping = (int) (System.currentTimeMillis() - connection.lastPingPacketTime) / 2;
 						}
 						break;
 					case 11: // PACKET_SERIAL
-						if(sensor == null)
+						if(connection == null)
 							break;
-						tracker = sensor.tracker;
+						if(connection.isOwoTrack)
+							break;
+						tracker = connection.tracker;
 						bb.getLong();
 						int length = bb.getInt();
 						for(int i = 0; i < length; ++i) {
@@ -243,44 +323,53 @@ public class TrackersUDPServer extends Thread {
 						}
 						break;
 					case 12: // PACKET_BATTERY_VOLTAGE
-						if(sensor == null)
+						if(connection == null)
 							break;
-						tracker = sensor.tracker;
+						tracker = connection.tracker;
 						bb.getLong();
 						tracker.setBatteryVoltage(bb.getFloat());
 						break;
 					case 13: // PACKET_TAP
-						if(sensor == null)
+						if(connection == null)
 							break;
-						tracker = sensor.tracker;
+						if(connection.isOwoTrack)
+							break;
+						tracker = connection.tracker;
 						bb.getLong();
-						byte tap = bb.get();
-						System.out.println("[TrackerServer] Tap packet received from " + tracker.getName() + ": b" + Integer.toBinaryString(tap));
+						sensorId = bb.get() & 0xFF;
+						if(sensorId == 0) {
+							tracker = connection.tracker;
+						} else if(sensorId == 1) {
+							tracker = connection.secondTracker;
+						}
+						int tap = bb.get() & 0xFF;
+						BnoTap tapObj = new BnoTap(tap);
+						System.out.println("[TrackerServer] Tap packet received from " + tracker.getName() + "/" + sensorId + ": " + tapObj  + " (b" + Integer.toBinaryString(tap) + ")");
 						break;
 					case 14: // PACKET_RESET_REASON
 						bb.getLong();
 						byte reason = bb.get();
 						System.out.println("[TrackerServer] Reset recieved from " + recieve.getSocketAddress() + ": " + reason);
-						if(sensor == null)
+						if(connection == null)
 							break;
-						tracker = sensor.tracker;
+						tracker = connection.tracker;
 						tracker.setStatus(TrackerStatus.ERROR);
 						break;
 					case 15: // PACKET_SENSOR_INFO
-						if(sensor == null)
+						if(connection == null)
 							break;
 						bb.getLong();
-						int sensorId = bb.get() & 0xFF;
+						sensorId = bb.get() & 0xFF;
 						int sensorStatus = bb.get() & 0xFF;
-						if(sensorId == 1 && sensorStatus == 1 && sensor.secondTracker == null) {
-							setUpAuxialrySensor(sensor);
+						if(sensorId == 1 && sensorStatus == 1 && connection.secondTracker == null) {
+							setUpAuxilarySensor(connection);
 						}
 						bb.rewind();
 						bb.putInt(15);
 						bb.put((byte) sensorId);
 						bb.put((byte) sensorStatus);
-						socket.send(new DatagramPacket(rcvBuffer, bb.position(), sensor.address));
-						System.out.println("[TrackerServer] Sensor info for " + sensor.tracker.getName() + "/" + sensorId + ": " + sensorStatus);
+						socket.send(new DatagramPacket(rcvBuffer, bb.position(), connection.address));
+						System.out.println("[TrackerServer] Sensor info for " + connection.tracker.getName() + "/" + sensorId + ": " + sensorStatus);
 						break;
 					default:
 						System.out.println("[TrackerServer] Unknown data received: " + packetId + " from " + recieve.getSocketAddress());
@@ -343,6 +432,7 @@ public class TrackersUDPServer extends Thread {
 		public long lastPacket = System.currentTimeMillis();
 		public int lastPingPacketId = -1;
 		public long lastPingPacketTime = 0;
+		public boolean isOwoTrack = false;
 		
 		public TrackerConnection(IMUTracker tracker, SocketAddress address) {
 			this.tracker = tracker;

src/test/java/io/eiren/unit/ReferenceAdjustmentsFullTests.java

@@ -1,273 +0,0 @@
-package io.eiren.unit;
-
-import com.jme3.math.FastMath;
-import com.jme3.math.Quaternion;
-
-import io.eiren.math.FloatMath;
-import io.eiren.util.StringUtils;
-import io.eiren.vr.processor.TransformNode;
-import io.eiren.vr.trackers.ComputedTracker;
-import io.eiren.vr.trackers.ReferenceAdjustedTracker;
-
-import static org.junit.Assert.*;
-
-import java.util.HashSet;
-import java.util.Set;
-
-import org.junit.Test;
-
-/**
- * Tests {@link ReferenceAdjustedTracker#resetFull(Quaternion)}
- */
-public class ReferenceAdjustmentsFullTests {
-	
-	private Set<String> testedTrackerNames = new HashSet<>();
-
-	@Test
-	public void check0to0() {
-		yawTest(0, 0);
-	}
-
-	@Test
-	public void check45to0() {
-		yawTest(0, 45);
-	}
-
-	@Test
-	public void check90to0() {
-		yawTest(0, 90);
-	}
-
-	@Test
-	public void check180to0() {
-		yawTest(0, 180);
-	}
-
-	@Test
-	public void check270to0() {
-		yawTest(0, 270);
-	}
-	
-	@Test
-	public void check0to45() {
-		yawTest(45, 0);
-	}
-
-	@Test
-	public void check45to45() {
-		yawTest(45, 45);
-	}
-
-	@Test
-	public void check90to45() {
-		yawTest(45, 90);
-	}
-
-	@Test
-	public void check180to45() {
-		yawTest(45, 180);
-	}
-
-	@Test
-	public void check270to45() {
-		yawTest(45, 270);
-	}
-	
-	@Test
-	public void check0to90() {
-		yawTest(90, 0);
-	}
-
-	@Test
-	public void check45to90() {
-		yawTest(90, 45);
-	}
-
-	@Test
-	public void check90to90() {
-		yawTest(90, 90);
-	}
-
-	@Test
-	public void check180to90() {
-		yawTest(90, 180);
-	}
-
-	@Test
-	public void check270to90() {
-		yawTest(90, 270);
-	}
-	
-	@Test
-	public void check0to180() {
-		yawTest(180, 0);
-	}
-
-	@Test
-	public void check45to180() {
-		yawTest(180, 45);
-	}
-
-	@Test
-	public void check90to180() {
-		yawTest(180, 90);
-	}
-
-	@Test
-	public void check180to180() {
-		yawTest(180, 180);
-	}
-
-	@Test
-	public void check270to180() {
-		yawTest(180, 270);
-	}
-	
-	private void yawTest(int refYaw, int trackerYaw) {
-		checkReferenceAdjustmentFull(q(0, refYaw, 0), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(0, refYaw, 15), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(15, refYaw, 0), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(15, refYaw, 15), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(0, refYaw, 0), q(15, trackerYaw, 0), refYaw, "Tracker(15," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(0, refYaw, 15), q(0, trackerYaw, 15), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(15, refYaw, 0), q(15, trackerYaw, 15), refYaw, "Tracker(15," + trackerYaw + ",0/" + refYaw + ")");
-		checkReferenceAdjustmentFull(q(15, refYaw, 15), q(0, trackerYaw, 15), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")");
-	}
-	
-	public void checkReferenceAdjustmentFull(Quaternion referenceQuat, Quaternion trackerQuat, int refYaw, String name) {
-		ComputedTracker tracker = new ComputedTracker("test");
-		tracker.rotation.set(trackerQuat);
-		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
-		adj.resetFull(referenceQuat);
-		Quaternion read = new Quaternion();
-		assertTrue("Adjusted tracker didn't return rotation", adj.getRotation(read));
-
-		// Use only yaw HMD rotation
-		Quaternion targetTrackerRotation = new Quaternion(referenceQuat);
-		float[] angles = new float[3];
-		targetTrackerRotation.toAngles(angles);
-		targetTrackerRotation.fromAngles(0, angles[1], 0);
-		
-		assertEquals("Adjusted quat is not equal to reference quat (" + toDegs(targetTrackerRotation) + " vs " + toDegs(read) + ")", new QuatEqualFullWithEpsilon(targetTrackerRotation), new QuatEqualFullWithEpsilon(read));
-		testAdjustedTracker(tracker, adj, name, refYaw);
-	}
-	
-	private static final boolean PRINT_TEST_RESULTS = false;
-	
-	private static int errors = 0;
-	private static int successes = 0;
-	
-	private void testAdjustedTracker(ComputedTracker tracker, ReferenceAdjustedTracker<ComputedTracker> adj, String name, int refYaw) {
-		if(!testedTrackerNames.add(name))
-			return;
-		
-		final Quaternion trackerBase = new Quaternion();
-		trackerBase.set(tracker.rotation);
-		
-		Quaternion rotation = new Quaternion();
-		Quaternion rotationCompare = new Quaternion();
-		Quaternion read = new Quaternion();
-		Quaternion diff = new Quaternion();
-		float[] angles = new float[3];
-		float[] anglesAdj = new float[3];
-		float[] anglesDiff = new float[3];
-		
-		TransformNode trackerNode = new TransformNode(name, true);
-		TransformNode rotationNode = new TransformNode("Rot", true);
-		trackerNode.attachChild(rotationNode);
-		
-		trackerNode.localTransform.setRotation(trackerBase);
-		
-		for(int yaw = 0; yaw <= 360; yaw += 30) {
-			for(int pitch = -90; pitch <= 90; pitch += 15) {
-				for(int roll = -90; roll <= 90; roll += 15) {
-					rotation.fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
-					rotationCompare.fromAngles(pitch * FastMath.DEG_TO_RAD, (yaw + refYaw) * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
-					rotationNode.localTransform.setRotation(rotation);
-					trackerNode.update();
-					rotationNode.update();
-					tracker.rotation.set(rotationNode.worldTransform.getRotation());
-					tracker.rotation.toAngles(angles);
-					
-					adj.getRotation(read);
-					read.toAngles(anglesAdj);
-					
-					diff.set(read).inverseLocal().multLocal(rotationCompare);
-					diff.toAngles(anglesDiff);
-					
-					if(!PRINT_TEST_RESULTS) {
-						assertTrue(name(name, yaw, pitch, roll, angles, anglesAdj, anglesDiff),
-								FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]));
-					} else {
-						if(FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]))
-							successes++;
-						else
-							errors++;
-						System.out.println(name(name, yaw, pitch, roll, angles, anglesAdj, anglesDiff));
-					}
-				}
-			}
-		}
-		if(PRINT_TEST_RESULTS)
-			System.out.println("Errors: " + errors + ", successes: " + successes);
-	}
-	
-	private static String name(String name, int yaw, int pitch, int roll, float[] angles, float[] anglesAdj, float[] anglesDiff) {
-		return name + ". Rot: " + yaw + "/" + pitch + ". "
-				+ "Angles: " + StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[0] * FastMath.RAD_TO_DEG, 1) + ", "
-				+ StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[1] * FastMath.RAD_TO_DEG, 1) + ", "
-				+ StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[2] * FastMath.RAD_TO_DEG, 1) + ". Diff: "
-				+ StringUtils.prettyNumber(anglesDiff[0] * FastMath.RAD_TO_DEG, 1) + ", "
-				+ StringUtils.prettyNumber(anglesDiff[1] * FastMath.RAD_TO_DEG, 1) + ", "
-				+ StringUtils.prettyNumber(anglesDiff[2] * FastMath.RAD_TO_DEG, 1);
-	}
-	
-	public static String toDegs(Quaternion q) {
-		float[] degs = new float[3];
-		q.toAngles(degs);
-		return StringUtils.prettyNumber(degs[0] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[1] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[2] * FastMath.RAD_TO_DEG, 0);
-	}
-	
-	public static Quaternion q(float pitch, float yaw, float roll) {
-		return new Quaternion().fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
-	}
-	
-	public static class QuatEqualFullWithEpsilon {
-		
-		private final Quaternion q;
-		
-		public QuatEqualFullWithEpsilon(Quaternion q) {
-			this.q = q;
-		}
-		
-		@Override
-		public String toString() {
-			return String.valueOf(q);
-		}
-		
-		@Override
-		public int hashCode() {
-			return q.hashCode();
-		}
-		
-		@Override
-		public boolean equals(Object obj) {
-			if(obj instanceof Quaternion)
-				obj = new QuatEqualFullWithEpsilon((Quaternion) obj);
-			if(!(obj instanceof QuatEqualFullWithEpsilon))
-				return false;
-			Quaternion q2 = ((QuatEqualFullWithEpsilon) obj).q;
-			float[] degs1 = new float[3];
-			q.toAngles(degs1);
-			float[] degs2 = new float[3];
-			q2.toAngles(degs2);
-			if(degs1[1] < -FloatMath.ANGLE_EPSILON_RAD)
-				degs1[1] += FastMath.TWO_PI;
-			if(degs2[1] < -FloatMath.ANGLE_EPSILON_RAD)
-				degs2[1] += FastMath.TWO_PI;
-			return FloatMath.equalsWithEpsilon(degs1[0], degs2[0])
-					&& FloatMath.equalsWithEpsilon(degs1[1], degs2[1])
-					&& FloatMath.equalsWithEpsilon(degs1[2], degs2[2]);
-		}
-	}
-}

src/test/java/io/eiren/unit/ReferenceAdjustmentsTests.java

@@ -0,0 +1,265 @@
+package io.eiren.unit;
+
+import com.jme3.math.FastMath;
+import com.jme3.math.Quaternion;
+
+import io.eiren.math.FloatMath;
+import io.eiren.util.StringUtils;
+import io.eiren.vr.processor.TransformNode;
+import io.eiren.vr.trackers.ComputedTracker;
+import io.eiren.vr.trackers.ReferenceAdjustedTracker;
+
+import static org.junit.jupiter.api.Assertions.*;
+import static org.junit.jupiter.api.DynamicTest.dynamicTest;
+
+import java.util.function.Function;
+import java.util.stream.IntStream;
+import java.util.stream.Stream;
+
+import org.junit.jupiter.api.DynamicTest;
+import org.junit.jupiter.api.TestFactory;
+
+/**
+ * Tests {@link ReferenceAdjustedTracker#resetFull(Quaternion)}
+ */
+public class ReferenceAdjustmentsTests {
+
+	private static final int[] yaws = {0, 45, 90, 180, 270};
+	private static final int[] pitches = {0, 15, 35, -15, -35};
+	private static final int[] rolls = {0, 15, 35, -15, -35};
+	private static final boolean PRINT_TEST_RESULTS = false;
+	private static int errors = 0;
+	private static int successes = 0;
+	
+	public static Stream<AnglesSet> getAnglesSet() {
+		return IntStream.of(yaws).mapToObj((yaw) ->
+				IntStream.of(pitches).mapToObj((pitch) ->
+					IntStream.of(rolls).mapToObj((roll) -> new AnglesSet(pitch, yaw, roll)
+			))).flatMap(Function.identity()).flatMap(Function.identity());
+	}
+	
+	@TestFactory
+	Stream<DynamicTest> getTestsYaw() {
+		return getAnglesSet().map((p) -> 
+			dynamicTest("Adjustment Yaw Test of Tracker(" + p.pitch + "," + p.yaw + "," + p.roll + ")",
+					() -> IntStream.of(yaws).forEach((refYaw) ->
+							checkReferenceAdjustmentYaw(q(p.pitch, p.yaw, p.roll), 0, refYaw, 0))
+					));
+	}
+	
+	@TestFactory
+	Stream<DynamicTest> getTestsFull() {
+		return getAnglesSet().map((p) -> 
+		dynamicTest("Adjustment Full Test of Tracker(" + p.pitch + "," + p.yaw + "," + p.roll + ")",
+				() -> getAnglesSet().forEach((ref) ->
+						checkReferenceAdjustmentFull(q(p.pitch, p.yaw, p.roll), ref.pitch, ref.yaw, ref.roll))
+				));
+	}
+	
+	@TestFactory
+	Stream<DynamicTest> getTestsForRotation() {
+		return getAnglesSet().map((p) -> 
+			IntStream.of(yaws).mapToObj((refYaw) ->
+				dynamicTest("Adjustment Rotation Test of Tracker(" + p.pitch + "," + p.yaw + "," + p.roll + "), Ref " + refYaw,
+					() -> testAdjustedTrackerRotation(q(p.pitch, p.yaw, p.roll), 0, refYaw, 0)
+			))).flatMap(Function.identity());
+	}
+	
+	public void checkReferenceAdjustmentFull(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
+		Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
+		ComputedTracker tracker = new ComputedTracker("test");
+		tracker.rotation.set(trackerQuat);
+		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
+		adj.resetFull(referenceQuat);
+		Quaternion read = new Quaternion();
+		assertTrue(adj.getRotation(read), "Adjusted tracker didn't return rotation");
+
+		// Use only yaw HMD rotation
+		Quaternion targetTrackerRotation = new Quaternion(referenceQuat);
+		float[] angles = new float[3];
+		targetTrackerRotation.toAngles(angles);
+		targetTrackerRotation.fromAngles(0, angles[1], 0);
+		
+		assertEquals(new QuatEqualFullWithEpsilon(read), new QuatEqualFullWithEpsilon(targetTrackerRotation),
+				"Adjusted quat is not equal to reference quat (" + toDegs(targetTrackerRotation) + " vs " + toDegs(read) + ")");
+	}
+	
+	public void checkReferenceAdjustmentYaw(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
+		Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
+		ComputedTracker tracker = new ComputedTracker("test");
+		tracker.rotation.set(trackerQuat);
+		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
+		adj.resetYaw(referenceQuat);
+		Quaternion read = new Quaternion();
+		assertTrue(adj.getRotation(read), "Adjusted tracker didn't return rotation");
+		assertEquals(new QuatEqualYawWithEpsilon(referenceQuat), new QuatEqualYawWithEpsilon(read),
+				"Adjusted quat is not equal to reference quat (" + toDegs(referenceQuat) + " vs " + toDegs(read) + ")");
+	}
+	
+	private void testAdjustedTrackerRotation(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
+		Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
+		ComputedTracker tracker = new ComputedTracker("test");
+		tracker.rotation.set(trackerQuat);
+		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
+		adj.resetFull(referenceQuat);
+
+		// Use only yaw HMD rotation
+		Quaternion targetTrackerRotation = new Quaternion(referenceQuat);
+		float[] angles = new float[3];
+		targetTrackerRotation.toAngles(angles);
+		targetTrackerRotation.fromAngles(0, angles[1], 0);
+
+		Quaternion read = new Quaternion();
+		Quaternion rotation = new Quaternion();
+		Quaternion rotationCompare = new Quaternion();
+		Quaternion diff = new Quaternion();
+		float[] anglesAdj = new float[3];
+		float[] anglesDiff = new float[3];
+		
+		TransformNode trackerNode = new TransformNode("Tracker", true);
+		TransformNode rotationNode = new TransformNode("Rot", true);
+		rotationNode.attachChild(trackerNode);
+		
+		trackerNode.localTransform.setRotation(tracker.rotation);
+		
+		for(int yaw = 0; yaw <= 360; yaw += 30) {
+			for(int pitch = -90; pitch <= 90; pitch += 15) {
+				for(int roll = -90; roll <= 90; roll += 15) {
+					rotation.fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
+					rotationCompare.fromAngles(pitch * FastMath.DEG_TO_RAD, (yaw + refYaw) * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
+					rotationNode.localTransform.setRotation(rotation);
+					rotationNode.update();
+					tracker.rotation.set(trackerNode.worldTransform.getRotation());
+					tracker.rotation.toAngles(angles);
+					
+					adj.getRotation(read);
+					read.toAngles(anglesAdj);
+					
+					diff.set(read).inverseLocal().multLocal(rotationCompare);
+					diff.toAngles(anglesDiff);
+					
+					if(!PRINT_TEST_RESULTS) {
+						assertTrue(FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]),
+								name(yaw, pitch, roll, angles, anglesAdj, anglesDiff));
+					} else {
+						if(FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]))
+							successes++;
+						else
+							errors++;
+						System.out.println(name(yaw, pitch, roll, angles, anglesAdj, anglesDiff));
+					}
+				}
+			}
+		}
+		if(PRINT_TEST_RESULTS)
+			System.out.println("Errors: " + errors + ", successes: " + successes);
+	}
+	
+	private static String name(int yaw, int pitch, int roll, float[] angles, float[] anglesAdj, float[] anglesDiff) {
+		return "Rot: " + yaw + "/" + pitch + "/" + roll + ". "
+				+ "Angles: " + StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[0] * FastMath.RAD_TO_DEG, 1) + ", "
+				+ StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[1] * FastMath.RAD_TO_DEG, 1) + ", "
+				+ StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[2] * FastMath.RAD_TO_DEG, 1) + ". Diff: "
+				+ StringUtils.prettyNumber(anglesDiff[0] * FastMath.RAD_TO_DEG, 1) + ", "
+				+ StringUtils.prettyNumber(anglesDiff[1] * FastMath.RAD_TO_DEG, 1) + ", "
+				+ StringUtils.prettyNumber(anglesDiff[2] * FastMath.RAD_TO_DEG, 1);
+	}
+	
+	public static Quaternion q(float pitch, float yaw, float roll) {
+		return new Quaternion().fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
+	}
+	
+	public static String toDegs(Quaternion q) {
+		float[] degs = new float[3];
+		q.toAngles(degs);
+		return StringUtils.prettyNumber(degs[0] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[1] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[2] * FastMath.RAD_TO_DEG, 0);
+	}
+	
+	private static class QuatEqualYawWithEpsilon {
+		
+		private final Quaternion q;
+		
+		public QuatEqualYawWithEpsilon(Quaternion q) {
+			this.q = q;
+		}
+		
+		@Override
+		public String toString() {
+			return String.valueOf(q);
+		}
+		
+		@Override
+		public int hashCode() {
+			return q.hashCode();
+		}
+		
+		@Override
+		public boolean equals(Object obj) {
+			if(obj instanceof Quaternion)
+				obj = new QuatEqualYawWithEpsilon((Quaternion) obj);
+			if(!(obj instanceof QuatEqualYawWithEpsilon))
+				return false;
+			Quaternion q2 = ((QuatEqualYawWithEpsilon) obj).q;
+			float[] degs1 = new float[3];
+			q.toAngles(degs1);
+			float[] degs2 = new float[3];
+			q2.toAngles(degs2);
+			if(degs1[1] < -FloatMath.ANGLE_EPSILON_RAD)
+				degs1[1] += FastMath.TWO_PI;
+			if(degs2[1] < -FloatMath.ANGLE_EPSILON_RAD)
+				degs2[1] += FastMath.TWO_PI;
+			return FloatMath.equalsWithEpsilon(degs1[1], degs2[1]);
+		}
+	}
+	
+	public static class QuatEqualFullWithEpsilon {
+		
+		private final Quaternion q;
+		
+		public QuatEqualFullWithEpsilon(Quaternion q) {
+			this.q = q;
+		}
+		
+		@Override
+		public String toString() {
+			return String.valueOf(q);
+		}
+		
+		@Override
+		public int hashCode() {
+			return q.hashCode();
+		}
+		
+		@Override
+		public boolean equals(Object obj) {
+			if(obj instanceof Quaternion)
+				obj = new QuatEqualFullWithEpsilon((Quaternion) obj);
+			if(!(obj instanceof QuatEqualFullWithEpsilon))
+				return false;
+			Quaternion q2 = ((QuatEqualFullWithEpsilon) obj).q;
+			float[] degs1 = new float[3];
+			q.toAngles(degs1);
+			float[] degs2 = new float[3];
+			q2.toAngles(degs2);
+			if(degs1[1] < -FloatMath.ANGLE_EPSILON_RAD)
+				degs1[1] += FastMath.TWO_PI;
+			if(degs2[1] < -FloatMath.ANGLE_EPSILON_RAD)
+				degs2[1] += FastMath.TWO_PI;
+			return FloatMath.equalsWithEpsilon(degs1[0], degs2[0])
+					&& FloatMath.equalsWithEpsilon(degs1[1], degs2[1])
+					&& FloatMath.equalsWithEpsilon(degs1[2], degs2[2]);
+		}
+	}
+	
+	public static class AnglesSet {
+		public final int pitch;
+		public final int yaw;
+		public final int roll;
+		
+		public AnglesSet(int pitch, int yaw, int roll) {
+			this.pitch = pitch;
+			this.yaw = yaw;
+			this.roll = roll;
+		}
+	}
+}

src/test/java/io/eiren/unit/ReferenceAdjustmentsYawTests.java

@@ -1,187 +0,0 @@
-package io.eiren.unit;
-
-import com.jme3.math.FastMath;
-import com.jme3.math.Quaternion;
-
-import io.eiren.math.FloatMath;
-import io.eiren.util.StringUtils;
-import io.eiren.vr.trackers.ComputedTracker;
-import io.eiren.vr.trackers.ReferenceAdjustedTracker;
-
-import static org.junit.Assert.*;
-
-import org.junit.Test;
-
-/**
- * Tests {@link ReferenceAdjustedTracker#resetYaw(Quaternion)}
- */
-public class ReferenceAdjustmentsYawTests {
-	
-	@Test
-	public void check0to0() {
-		yawTest(0, 0);
-	}
-
-	@Test
-	public void check45to0() {
-		yawTest(0, 45);
-	}
-
-	@Test
-	public void check90to0() {
-		yawTest(0, 90);
-	}
-
-	@Test
-	public void check180to0() {
-		yawTest(0, 180);
-	}
-
-	@Test
-	public void check270to0() {
-		yawTest(0, 270);
-	}
-	
-	@Test
-	public void check0to45() {
-		yawTest(45, 0);
-	}
-
-	@Test
-	public void check45to45() {
-		yawTest(45, 45);
-	}
-
-	@Test
-	public void check90to45() {
-		yawTest(45, 90);
-	}
-
-	@Test
-	public void check180to45() {
-		yawTest(45, 180);
-	}
-
-	@Test
-	public void check270to45() {
-		yawTest(45, 270);
-	}
-	
-	@Test
-	public void check0to90() {
-		yawTest(90, 0);
-	}
-
-	@Test
-	public void check45to90() {
-		yawTest(90, 45);
-	}
-
-	@Test
-	public void check90to90() {
-		yawTest(90, 90);
-	}
-
-	@Test
-	public void check180to90() {
-		yawTest(90, 180);
-	}
-
-	@Test
-	public void check270to90() {
-		yawTest(90, 270);
-	}
-	
-	@Test
-	public void check0to180() {
-		yawTest(180, 0);
-	}
-
-	@Test
-	public void check45to180() {
-		yawTest(180, 45);
-	}
-
-	@Test
-	public void check90to180() {
-		yawTest(180, 90);
-	}
-
-	@Test
-	public void check180to180() {
-		yawTest(180, 180);
-	}
-
-	@Test
-	public void check270to180() {
-		yawTest(180, 270);
-	}
-	
-	private void yawTest(float refYaw, float trackerTaw) {
-		checkReferenceAdjustmentYaw(q(0, refYaw, 0), q(0, trackerTaw, 0));
-		checkReferenceAdjustmentYaw(q(0, refYaw, 15), q(0, trackerTaw, 0));
-		checkReferenceAdjustmentYaw(q(15, refYaw, 0), q(0, trackerTaw, 0));
-		checkReferenceAdjustmentYaw(q(15, refYaw, 15), q(0, trackerTaw, 0));
-		checkReferenceAdjustmentYaw(q(0, refYaw, 0), q(15, trackerTaw, 0));
-		checkReferenceAdjustmentYaw(q(0, refYaw, 15), q(0, trackerTaw, 15));
-		checkReferenceAdjustmentYaw(q(15, refYaw, 0), q(15, trackerTaw, 15));
-		checkReferenceAdjustmentYaw(q(15, refYaw, 15), q(0, trackerTaw, 15));
-	}
-	
-	public static void checkReferenceAdjustmentYaw(Quaternion referenceQuat, Quaternion trackerQuat) {
-		ComputedTracker tracker = new ComputedTracker("test");
-		tracker.rotation.set(trackerQuat);
-		ReferenceAdjustedTracker adj = new ReferenceAdjustedTracker(tracker);
-		adj.resetYaw(referenceQuat);
-		Quaternion read = new Quaternion();
-		assertTrue("Adjusted tracker didn't return rotation", adj.getRotation(read));
-		assertEquals("Adjusted quat is not equal to reference quat (" + toDegs(referenceQuat) + " vs " + toDegs(read) + ")", new QuatEqualYawWithEpsilon(referenceQuat), new QuatEqualYawWithEpsilon(read));
-	}
-	
-	public static String toDegs(Quaternion q) {
-		float[] degs = new float[3];
-		q.toAngles(degs);
-		return StringUtils.prettyNumber(degs[0] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[1] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[2] * FastMath.RAD_TO_DEG, 0);
-	}
-	
-	public static Quaternion q(float pitch, float yaw, float roll) {
-		return new Quaternion().fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
-	}
-	
-	private static class QuatEqualYawWithEpsilon {
-		
-		private final Quaternion q;
-		
-		public QuatEqualYawWithEpsilon(Quaternion q) {
-			this.q = q;
-		}
-		
-		@Override
-		public String toString() {
-			return String.valueOf(q);
-		}
-		
-		@Override
-		public int hashCode() {
-			return q.hashCode();
-		}
-		
-		@Override
-		public boolean equals(Object obj) {
-			if(obj instanceof Quaternion)
-				obj = new QuatEqualYawWithEpsilon((Quaternion) obj);
-			if(!(obj instanceof QuatEqualYawWithEpsilon))
-				return false;
-			Quaternion q2 = ((QuatEqualYawWithEpsilon) obj).q;
-			float[] degs1 = new float[3];
-			q.toAngles(degs1);
-			float[] degs2 = new float[3];
-			q2.toAngles(degs2);
-			if(degs1[1] < -FloatMath.ANGLE_EPSILON_RAD)
-				degs1[1] += FastMath.TWO_PI;
-			if(degs2[1] < -FloatMath.ANGLE_EPSILON_RAD)
-				degs2[1] += FastMath.TWO_PI;
-			return FloatMath.equalsWithEpsilon(degs1[1], degs2[1]);
-		}
-	}
-}