Add discorvery port to firewall and add firewall uninstall script

IPC upgrade

.classpath

@@ -26,8 +26,8 @@
 			<attribute name="test" value="true"/>
 		</attributes>
 	</classpathentry>
-	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8/"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/jdk-11.0.1"/>
 	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
-	<classpathentry combineaccessrules="false" kind="src" path="/Slime Java Commons"/>
+	<classpathentry combineaccessrules="false" kind="src" path="/slime-java-commons"/>
 	<classpathentry kind="output" path="bin/default"/>
 </classpath>

.github/workflows/gradle.yml

@@ -11,18 +11,13 @@ jobs:
 
     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
+            submodules: recursive
 
-      - name: Set up JDK 8
+      - name: Set up JDK 11
         uses: actions/setup-java@v2.1.0
         with:
-          java-version: '8'
+          java-version: '11'
           distribution: 'adopt'
           cache: 'gradle' # will restore cache of dependencies and wrappers
 
@@ -37,18 +32,13 @@ jobs:
 
     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
+            submodules: recursive
 
-      - name: Set up JDK 8
+      - name: Set up JDK 11
         uses: actions/setup-java@v2.1.0
         with:
-          java-version: '8'
+          java-version: '11'
           distribution: 'adopt'
           cache: 'gradle' # will restore cache of dependencies and wrappers
 

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "slime-java-commons"]
+	path = slime-java-commons
+	url = https://github.com/Eirenliel/slime-java-commons.git

README.md

@@ -21,8 +21,7 @@ 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
+git clone --recursive https://github.com/SlimeVR/SlimeVR-Server.git
 
 # Enter the directory and build the runnable server JAR
 cd SlimeVR-Server

build.gradle

@@ -34,15 +34,17 @@ tasks.withType(Javadoc) {
 	options.encoding = 'UTF-8'
 }
 
-repositories {
-	// Use jcenter for resolving dependencies.
-	// You can declare any Maven/Ivy/file repository here.
-	jcenter()
-	mavenCentral()
+allprojects {
+	repositories {
+		// Use jcenter for resolving dependencies.
+		// You can declare any Maven/Ivy/file repository here.
+		jcenter()
+		mavenCentral()
+	}
 }
 
 dependencies {
-	compile project(':Slime Java Commons')
+	compile project(':slime-java-commons')
 
 	// This dependency is exported to consumers, that is to say found on their compile classpath.
 	compile 'org.apache.commons:commons-math3:3.6.1'
@@ -51,11 +53,13 @@ dependencies {
 	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)'
+	compile 'com.google.protobuf:protobuf-java:3.17.3'
+	compile "org.java-websocket:Java-WebSocket:1.5.1"
+	compile 'com.melloware:jintellitype:1.4.0'
 
 	// 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 platform('org.junit:junit-bom:5.7.2')
 	testImplementation 'org.junit.jupiter:junit-jupiter'

protobuf_update.bat

@@ -0,0 +1 @@
+protoc --proto_path=../SlimeVR-OpenVR-Driver/src/bridge --java_out=./src/main/java ProtobufMessages.proto

resources/firewall.bat

@@ -1,13 +1,17 @@
 @echo off
 echo Installing firewall rules...
 
-rem Rotational data default port
-netsh advfirewall firewall add rule name="UDP 6969 incoming" dir=in action=allow protocol=UDP localport=6969
-netsh advfirewall firewall add rule name="UDP 6969 outgoing" dir=out action=allow protocol=UDP localport=6969
+rem Discovery defauly port
+netsh advfirewall firewall add rule name="SlimeVR UDP 35903 incoming" dir=in action=allow protocol=UDP localport=35903
+netsh advfirewall firewall add rule name="SlimeVR UDP 35903 outgoing" dir=out action=allow protocol=UDP localport=35903
 
-rem Info server allowing automatic discovery
-netsh advfirewall firewall add rule name="UDP 35903 incoming" dir=in action=allow protocol=UDP localport=35903
-netsh advfirewall firewall add rule name="UDP 35903 outgoing" dir=out action=allow protocol=UDP localport=35903
+rem Rotational data default port
+netsh advfirewall firewall add rule name="SlimeVR UDP 6969 incoming" dir=in action=allow protocol=UDP localport=6969
+netsh advfirewall firewall add rule name="SlimeVR UDP 6969 outgoing" dir=out action=allow protocol=UDP localport=6969
+
+rem WebSocket server default port
+netsh advfirewall firewall add rule name="SlimeVR TCP 21110 incoming" dir=in action=allow protocol=TCP localport=21110
+netsh advfirewall firewall add rule name="SlimeVR TCP 21110 outgoing" dir=out action=allow protocol=TCP localport=21110
 
 echo Done!
 pause

resources/firewall_uninstall.bat

@@ -0,0 +1,17 @@
+@echo off
+echo Installing firewall rules...
+
+rem Discovery defauly port
+netsh advfirewall firewall delete rule name="SlimeVR UDP 35903 incoming"
+netsh advfirewall firewall delete rule name="SlimeVR UDP 35903 outgoing"
+
+rem Rotational data default port
+netsh advfirewall firewall delete rule name="SlimeVR UDP 6969 incoming"
+netsh advfirewall firewall delete rule name="SlimeVR UDP 6969 outgoing"
+
+rem WebSocket server default port
+netsh advfirewall firewall delete rule name="SlimeVR TCP 21110 incoming"
+netsh advfirewall firewall delete rule name="SlimeVR TCP 21110 outgoing"
+
+echo Done!
+pause

settings.gradle

@@ -8,19 +8,4 @@
  */
 
 rootProject.name = 'SlimeVR Server'
-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
-    }
-}
+include ':slime-java-commons'

src/main/java/dev/slimevr/autobone/AutoBone.java

@@ -17,7 +17,7 @@ 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.TrackerPosition;
 import io.eiren.vr.trackers.TrackerUtils;
 
 public class AutoBone {
@@ -93,7 +93,7 @@ public class AutoBone {
 		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) || (frame != null && TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.CHEST) != null) || TrackerUtils.findTrackerForBodyPosition(server.getAllTrackers(), TrackerBodyPosition.CHEST) != null) {
+		if(server.config.getBoolean("autobone.forceChestTracker", false) || (frame != null && TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.CHEST) != null) || TrackerUtils.findTrackerForBodyPosition(server.getAllTrackers(), TrackerPosition.CHEST) != null) {
 			// If force enabled or has a chest tracker
 			configs.put("Chest", server.config.getFloat("body.chestDistance", 0.42f));
 		} else {
@@ -201,7 +201,7 @@ public class AutoBone {
 	public float getMaxHmdHeight(PoseFrame frames) {
 		float maxHeight = 0f;
 		for(TrackerFrame[] frame : frames) {
-			TrackerFrame hmd = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.HMD);
+			TrackerFrame hmd = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.HMD);
 			if(hmd != null && hmd.hasData(TrackerFrameData.POSITION) && hmd.position.y > maxHeight) {
 				maxHeight = hmd.position.y;
 			}
@@ -361,8 +361,8 @@ public class AutoBone {
 	
 	// The change in position of the ankle over time
 	protected float getSlideErrorDeriv(SimpleSkeleton skeleton1, SimpleSkeleton skeleton2) {
-		float slideLeft = skeleton1.getNodePosition(TrackerBodyPosition.LEFT_ANKLE).distance(skeleton2.getNodePosition(TrackerBodyPosition.LEFT_ANKLE));
-		float slideRight = skeleton1.getNodePosition(TrackerBodyPosition.RIGHT_ANKLE).distance(skeleton2.getNodePosition(TrackerBodyPosition.RIGHT_ANKLE));
+		float slideLeft = skeleton1.getNodePosition(TrackerPosition.LEFT_ANKLE).distance(skeleton2.getNodePosition(TrackerPosition.LEFT_ANKLE));
+		float slideRight = skeleton1.getNodePosition(TrackerPosition.RIGHT_ANKLE).distance(skeleton2.getNodePosition(TrackerPosition.RIGHT_ANKLE));
 		
 		// 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;
@@ -370,11 +370,11 @@ public class AutoBone {
 	
 	// The offset between both feet at one instant and over time
 	protected float getOffsetErrorDeriv(SimpleSkeleton skeleton1, SimpleSkeleton skeleton2) {
-		float skeleton1Left = skeleton1.getNodePosition(TrackerBodyPosition.LEFT_ANKLE).getY();
-		float skeleton1Right = skeleton1.getNodePosition(TrackerBodyPosition.RIGHT_ANKLE).getY();
+		float skeleton1Left = skeleton1.getNodePosition(TrackerPosition.LEFT_ANKLE).getY();
+		float skeleton1Right = skeleton1.getNodePosition(TrackerPosition.RIGHT_ANKLE).getY();
 		
-		float skeleton2Left = skeleton2.getNodePosition(TrackerBodyPosition.LEFT_ANKLE).getY();
-		float skeleton2Right = skeleton2.getNodePosition(TrackerBodyPosition.RIGHT_ANKLE).getY();
+		float skeleton2Left = skeleton2.getNodePosition(TrackerPosition.LEFT_ANKLE).getY();
+		float skeleton2Right = skeleton2.getNodePosition(TrackerPosition.RIGHT_ANKLE).getY();
 		
 		float dist1 = Math.abs(skeleton1Left - skeleton1Right);
 		float dist2 = Math.abs(skeleton2Left - skeleton2Right);

src/main/java/dev/slimevr/autobone/SimpleSkeleton.java

@@ -10,8 +10,8 @@ import dev.slimevr.poserecorder.TrackerFrame;
 import dev.slimevr.poserecorder.TrackerFrameData;
 import io.eiren.vr.processor.HumanSkeletonWithLegs;
 import io.eiren.vr.processor.HumanSkeletonWithWaist;
-import io.eiren.vr.processor.TrackerBodyPosition;
 import io.eiren.vr.processor.TransformNode;
+import io.eiren.vr.trackers.TrackerPosition;
 import io.eiren.vr.trackers.TrackerUtils;
 import io.eiren.yaml.YamlFile;
 
@@ -121,7 +121,7 @@ public class SimpleSkeleton {
 	
 	public void setPoseFromFrame(TrackerFrame[] frame) {
 		
-		TrackerFrame hmd = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.HMD);
+		TrackerFrame hmd = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.HMD);
 		
 		if(hmd != null) {
 			if(hmd.hasData(TrackerFrameData.ROTATION)) {
@@ -134,24 +134,24 @@ public class SimpleSkeleton {
 			}
 		}
 		
-		TrackerFrame chest = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.CHEST, TrackerBodyPosition.WAIST);
+		TrackerFrame chest = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.CHEST, TrackerPosition.WAIST);
 		setRotation(chest, neckNode);
 		
-		TrackerFrame waist = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.WAIST, TrackerBodyPosition.CHEST);
+		TrackerFrame waist = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.WAIST, TrackerPosition.CHEST);
 		setRotation(waist, chestNode);
 		
-		TrackerFrame leftLeg = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.LEFT_LEG);
-		TrackerFrame rightLeg = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.RIGHT_LEG);
+		TrackerFrame leftLeg = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.LEFT_LEG);
+		TrackerFrame rightLeg = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.RIGHT_LEG);
 		
 		averagePelvis(waist, leftLeg, rightLeg);
 		
 		setRotation(leftLeg, leftHipNode);
 		setRotation(rightLeg, rightHipNode);
 		
-		TrackerFrame leftAnkle = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.LEFT_ANKLE);
+		TrackerFrame leftAnkle = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.LEFT_ANKLE);
 		setRotation(leftAnkle, rightKneeNode);
 		
-		TrackerFrame rightAnkle = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.RIGHT_ANKLE);
+		TrackerFrame rightAnkle = TrackerUtils.findTrackerForBodyPosition(frame, TrackerPosition.RIGHT_ANKLE);
 		setRotation(rightAnkle, leftKneeNode);
 		
 		updatePose();
@@ -292,11 +292,11 @@ public class SimpleSkeleton {
 		return nodes.get(node);
 	}
 	
-	public TransformNode getNode(TrackerBodyPosition bodyPosition) {
+	public TransformNode getNode(TrackerPosition bodyPosition) {
 		return getNode(bodyPosition, false);
 	}
 	
-	public TransformNode getNode(TrackerBodyPosition bodyPosition, boolean rotationNode) {
+	public TransformNode getNode(TrackerPosition bodyPosition, boolean rotationNode) {
 		if(bodyPosition == null) {
 			return null;
 		}
@@ -328,7 +328,7 @@ public class SimpleSkeleton {
 		return transformNode != null ? transformNode.worldTransform.getTranslation() : null;
 	}
 	
-	public Vector3f getNodePosition(TrackerBodyPosition bodyPosition) {
+	public Vector3f getNodePosition(TrackerPosition bodyPosition) {
 		TransformNode node = getNode(bodyPosition);
 		if(node == null) {
 			return null;

src/main/java/dev/slimevr/bridge/Bridge.java

@@ -0,0 +1,43 @@
+package dev.slimevr.bridge;
+
+import io.eiren.util.ann.VRServerThread;
+import io.eiren.vr.trackers.ShareableTracker;
+
+/**
+ * Bridge handles sending and recieving tracker data
+ * between SlimeVR and other systems like VR APIs (SteamVR, OpenXR, etc),
+ * apps and protocols (VMC, WebSocket, TIP). It can create and manage
+ * tracker recieved from the <b>remote side</b> or send shared <b>local
+ * trackers</b> to the other side.
+ */
+public interface Bridge {
+
+	@VRServerThread
+	public void dataRead();
+
+	@VRServerThread
+	public void dataWrite();
+	
+	/**
+	 * Adds shared tracker to the bridge. Bridge should notify the
+	 * other side of this tracker, if it's the type of tracker
+	 * this bridge serves, and start sending data each update
+	 * @param tracker
+	 */
+	@VRServerThread
+	public void addSharedTracker(ShareableTracker tracker);
+	
+	/**
+	 * Removes tracker from a bridge. If the other side supports
+	 * tracker removal, bridge should notify it and stop sending
+	 * new data. If it doesn't support tracker removal, the bridge
+	 * can either stop sending new data, or keep sending it if it's
+	 * available.
+	 * @param tracker
+	 */
+	@VRServerThread
+	public void removeSharedTracker(ShareableTracker tracker);
+
+	@VRServerThread
+	public void startBridge();
+}

src/main/java/dev/slimevr/bridge/BridgeThread.java

@@ -0,0 +1,9 @@
+package dev.slimevr.bridge;
+
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+
+@Retention(value = RetentionPolicy.SOURCE)
+public @interface BridgeThread {
+	
+}

src/main/java/dev/slimevr/bridge/NamedPipeBridge.java

@@ -0,0 +1,224 @@
+package dev.slimevr.bridge;
+
+import java.io.IOException;
+import java.util.List;
+
+import com.google.protobuf.CodedOutputStream;
+import com.sun.jna.platform.win32.Kernel32;
+import com.sun.jna.platform.win32.WinBase;
+import com.sun.jna.platform.win32.WinError;
+import com.sun.jna.ptr.IntByReference;
+
+import dev.slimevr.bridge.Pipe.PipeState;
+import dev.slimevr.bridge.ProtobufMessages.ProtobufMessage;
+import dev.slimevr.bridge.ProtobufMessages.TrackerAdded;
+import io.eiren.util.ann.VRServerThread;
+import io.eiren.util.logging.LogManager;
+import io.eiren.vr.Main;
+import io.eiren.vr.trackers.HMDTracker;
+import io.eiren.vr.trackers.ShareableTracker;
+import io.eiren.vr.trackers.TrackerPosition;
+import io.eiren.vr.trackers.TrackerRole;
+import io.eiren.vr.trackers.VRTracker;
+
+public class NamedPipeBridge extends ProtobufBridge<VRTracker> implements Runnable {
+	
+	private final TrackerRole[] defaultRoles = new TrackerRole[] {TrackerRole.WAIST, TrackerRole.LEFT_FOOT, TrackerRole.RIGHT_FOOT};
+
+	private final byte[] buffArray = new byte[2048];
+	
+	protected Pipe pipe;
+	protected final String pipeName;
+	protected final String bridgeSettingsKey;
+	protected final Thread runnerThread;
+	private final List<? extends ShareableTracker> shareableTrackers;
+	
+	public NamedPipeBridge(HMDTracker hmd, String bridgeSettingsKey, String bridgeName, String pipeName, List<? extends ShareableTracker> shareableTrackers) {
+		super(bridgeName, hmd);
+		this.pipeName = pipeName;
+		this.bridgeSettingsKey = bridgeSettingsKey;
+		this.runnerThread = new Thread(this, "Named pipe thread");
+		this.shareableTrackers = shareableTrackers;
+	}
+
+	@Override
+	@VRServerThread
+	public void startBridge() {
+		for(TrackerRole role : defaultRoles) {
+			changeShareSettings(role, Main.vrServer.config.getBoolean("bridge." + bridgeSettingsKey + ".trackers." + role.name().toLowerCase(), true));
+		}
+		for(int i = 0; i < shareableTrackers.size(); ++i) {
+			ShareableTracker tr = shareableTrackers.get(i);
+			TrackerRole role = tr.getTrackerRole();
+			changeShareSettings(role, Main.vrServer.config.getBoolean("bridge." + bridgeSettingsKey + ".trackers." + role.name().toLowerCase(), false));
+		}
+		runnerThread.start();
+	}
+
+	@VRServerThread
+	public boolean getShareSetting(TrackerRole role) {
+		for(int i = 0; i < shareableTrackers.size(); ++i) {
+			ShareableTracker tr = shareableTrackers.get(i);
+			if(tr.getTrackerRole() == role) {
+				return sharedTrackers.contains(tr);
+			}
+		}
+		return false;
+	}
+
+	@VRServerThread
+	public void changeShareSettings(TrackerRole role, boolean share) {
+		if(role == null)
+			return;
+		for(int i = 0; i < shareableTrackers.size(); ++i) {
+			ShareableTracker tr = shareableTrackers.get(i);
+			if(tr.getTrackerRole() == role) {
+				if(share) {
+					addSharedTracker(tr);
+				} else {
+					removeSharedTracker(tr);
+				}
+				Main.vrServer.config.setProperty("bridge." + bridgeSettingsKey + ".trackers." + role.name().toLowerCase(), share);
+				Main.vrServer.saveConfig();
+			}
+		}
+	}
+
+	@Override
+	@VRServerThread
+	protected VRTracker createNewTracker(TrackerAdded trackerAdded) {
+		VRTracker tracker = new VRTracker(trackerAdded.getTrackerId(), trackerAdded.getTrackerSerial(), trackerAdded.getTrackerName(), true, true);
+		TrackerRole role = TrackerRole.getById(trackerAdded.getTrackerRole());
+		if(role != null) {
+			tracker.setBodyPosition(TrackerPosition.getByRole(role));
+		}
+		return tracker;
+	}
+
+	@Override
+	@BridgeThread
+	public void run() {
+		try {
+			createPipe();
+			while(true) {
+				boolean pipesUpdated = false;
+				if(pipe.state == PipeState.CREATED) {
+					tryOpeningPipe(pipe);
+				}
+				if(pipe.state == PipeState.OPEN) {
+					pipesUpdated = updatePipe();
+					updateMessageQueue();
+				}
+				if(pipe.state == PipeState.ERROR) {
+					resetPipe();
+				}
+				if(!pipesUpdated) {
+					try {
+						Thread.sleep(5); // Up to 200Hz
+					} catch(InterruptedException e) {
+						e.printStackTrace();
+					}
+				}
+			}
+		} catch(IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+	}
+
+	@Override
+	@BridgeThread
+	protected boolean sendMessageReal(ProtobufMessage message) {
+		if(pipe.state == PipeState.OPEN) {
+			try {
+		        int size = message.getSerializedSize();
+		        CodedOutputStream os = CodedOutputStream.newInstance(buffArray, 4, size);
+		        message.writeTo(os);
+		        size += 4;
+		        buffArray[0] = (byte) (size & 0xFF);
+		        buffArray[1] = (byte) ((size >> 8) & 0xFF);
+		        buffArray[2] = (byte) ((size >> 16) & 0xFF);
+		        buffArray[3] = (byte) ((size >> 24) & 0xFF);
+		        if(Kernel32.INSTANCE.WriteFile(pipe.pipeHandle, buffArray, size, null, null)) {
+		            return true;
+		        }
+		        pipe.state = PipeState.ERROR;
+		        LogManager.log.severe("[" + bridgeName + "] Pipe error: " + Kernel32.INSTANCE.GetLastError());
+			} catch(IOException e) {
+				e.printStackTrace();
+			}
+	    }
+		return false;
+	}
+	
+	private boolean updatePipe() throws IOException {
+		if(pipe.state == PipeState.OPEN) {
+			boolean readAnything = false;
+			IntByReference bytesAvailable = new IntByReference(0);
+			while(Kernel32.INSTANCE.PeekNamedPipe(pipe.pipeHandle, buffArray, 4, null, bytesAvailable, null)) {
+				if(bytesAvailable.getValue() >= 4) { // Got size
+					int messageLength = (buffArray[3] << 24) | (buffArray[2] << 16) | (buffArray[1] << 8) | buffArray[0];
+					if(messageLength > 1024) { // Overflow
+						LogManager.log.severe("[" + bridgeName + "] Pipe overflow. Message length: " + messageLength);
+						pipe.state = PipeState.ERROR;
+						return readAnything;
+					}
+					if(bytesAvailable.getValue() >= messageLength) {
+						if(Kernel32.INSTANCE.ReadFile(pipe.pipeHandle, buffArray, messageLength, bytesAvailable, null)) {
+							ProtobufMessage message = ProtobufMessage.parser().parseFrom(buffArray, 4, messageLength - 4);
+							messageRecieved(message);
+							readAnything = true;
+						} else {
+							pipe.state = PipeState.ERROR;
+							LogManager.log.severe("[" + bridgeName + "] Pipe error: " + Kernel32.INSTANCE.GetLastError());
+							return readAnything;
+						}
+					} else {
+						return readAnything; // Wait for more data
+					}
+				} else {
+					return readAnything; // Wait for more data
+				}
+			}
+			pipe.state = PipeState.ERROR;
+			LogManager.log.severe("[" + bridgeName + "] Pipe error: " + Kernel32.INSTANCE.GetLastError());
+		}
+		return false;
+	}
+	
+	private void resetPipe() {
+		Pipe.safeDisconnect(pipe);
+		pipe.state = PipeState.CREATED;
+		Main.vrServer.queueTask(this::disconnected);
+	}
+	
+	private void createPipe() 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("[" + bridgeName + "] 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("[" + bridgeName + "] Pipes are created");
+		} catch(IOException e) {
+			Pipe.safeDisconnect(pipe);
+			throw e;
+		}
+	}
+	
+	private boolean tryOpeningPipe(Pipe pipe) {
+		if(Kernel32.INSTANCE.ConnectNamedPipe(pipe.pipeHandle, null) || Kernel32.INSTANCE.GetLastError() == WinError.ERROR_PIPE_CONNECTED) {
+			pipe.state = PipeState.OPEN;
+			LogManager.log.info("[" + bridgeName + "] Pipe " + pipe.name + " is open");
+			Main.vrServer.queueTask(this::reconnected);
+			return true;
+		}
+		LogManager.log.info("[" + bridgeName + "] Error connecting to pipe " + pipe.name + ": " + Kernel32.INSTANCE.GetLastError());
+		return false;
+	}
+}

src/main/java/dev/slimevr/bridge/NamedPipeVRBridge.java

@@ -1,4 +1,4 @@
-package io.eiren.vr.bridge;
+package dev.slimevr.bridge;
 
 import java.io.IOException;
 import java.nio.charset.Charset;
@@ -12,15 +12,17 @@ import com.sun.jna.platform.win32.WinBase;
 import com.sun.jna.platform.win32.WinNT.HANDLE;
 import com.sun.jna.ptr.IntByReference;
 
+import dev.slimevr.bridge.Pipe.PipeState;
 import io.eiren.util.collections.FastList;
 import io.eiren.util.logging.LogManager;
 import io.eiren.vr.VRServer;
 import io.eiren.vr.trackers.ComputedTracker;
 import io.eiren.vr.trackers.HMDTracker;
+import io.eiren.vr.trackers.ShareableTracker;
 import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerStatus;
 
-public class NamedPipeVRBridge extends Thread implements VRBridge {
+public class NamedPipeVRBridge extends Thread implements Bridge {
 
 	private static final int MAX_COMMAND_LENGTH = 2048;
 	public static final String HMDPipeName = "\\\\.\\pipe\\HMDPipe";
@@ -52,7 +54,7 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 		this.internalTrackers = new FastList<>(shareTrackers.size());
 		for(int i = 0; i < shareTrackers.size(); ++i) {
 			Tracker t = shareTrackers.get(i);
-			ComputedTracker ct = new ComputedTracker("internal://" + t.getName(), true, true);
+			ComputedTracker ct = new ComputedTracker(t.getTrackerId(), "internal://" + t.getName(), true, true);
 			ct.setStatus(TrackerStatus.OK);
 			this.internalTrackers.add(ct);
 		}
@@ -268,4 +270,21 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 		} catch(Exception e) {
 		}
 	}
+
+	@Override
+	public void addSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void removeSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void startBridge() {
+		start();
+	}
 }

src/main/java/dev/slimevr/bridge/Pipe.java

@@ -0,0 +1,30 @@
+package dev.slimevr.bridge;
+
+import com.sun.jna.platform.win32.Kernel32;
+import com.sun.jna.platform.win32.WinNT.HANDLE;
+
+public class Pipe {
+	
+	public final String name;
+	public final HANDLE pipeHandle;
+	public PipeState state = PipeState.CREATED;
+	
+	public Pipe(HANDLE pipeHandle, String name) {
+		this.pipeHandle = pipeHandle;
+		this.name = name;
+	}
+	
+	public static void safeDisconnect(Pipe pipe) {
+		try {
+			if(pipe != null && pipe.pipeHandle != null)
+				Kernel32.INSTANCE.DisconnectNamedPipe(pipe.pipeHandle);
+		} catch(Exception e) {
+		}
+	}
+	
+	enum PipeState {
+		CREATED,
+		OPEN,
+		ERROR;
+	}
+}

src/main/java/dev/slimevr/bridge/ProtobufBridge.java

@@ -0,0 +1,241 @@
+package dev.slimevr.bridge;
+
+import java.util.HashMap;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.Queue;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
+
+import dev.slimevr.bridge.ProtobufMessages.Position;
+import dev.slimevr.bridge.ProtobufMessages.ProtobufMessage;
+import dev.slimevr.bridge.ProtobufMessages.TrackerAdded;
+import dev.slimevr.bridge.ProtobufMessages.TrackerStatus;
+import dev.slimevr.bridge.ProtobufMessages.UserAction;
+import io.eiren.util.ann.Synchronize;
+import io.eiren.util.ann.ThreadSafe;
+import io.eiren.util.ann.VRServerThread;
+import io.eiren.util.collections.FastList;
+import io.eiren.vr.Main;
+import io.eiren.vr.trackers.ComputedTracker;
+import io.eiren.vr.trackers.HMDTracker;
+import io.eiren.vr.trackers.ShareableTracker;
+import io.eiren.vr.trackers.TrackerRole;
+import io.eiren.vr.trackers.VRTracker;
+
+public abstract class ProtobufBridge<T extends VRTracker> implements Bridge {
+
+	private final Vector3f vec1 = new Vector3f();
+	private final Quaternion quat1 = new Quaternion();
+	
+	@ThreadSafe
+	private final Queue<ProtobufMessage> inputQueue = new LinkedBlockingQueue<>();
+	@ThreadSafe
+	private final Queue<ProtobufMessage> outputQueue = new LinkedBlockingQueue<>();
+	@VRServerThread
+	protected final List<ShareableTracker> sharedTrackers = new FastList<>();
+	@Synchronize("self")
+	private final Map<String, T> remoteTrackersBySerial = new HashMap<>();
+	@Synchronize("self")
+	private final Map<Integer, T> remoteTrackersByTrackerId = new HashMap<>();
+	
+	private boolean hadNewData = false;
+	
+	private T hmdTracker;
+	private final HMDTracker hmd;
+	protected final String bridgeName;
+	
+	public ProtobufBridge(String bridgeName, HMDTracker hmd) {
+		this.bridgeName = bridgeName;
+		this.hmd = hmd;
+	}
+
+	@BridgeThread
+	protected abstract boolean sendMessageReal(ProtobufMessage message);
+
+	@BridgeThread
+	protected void messageRecieved(ProtobufMessage message) {
+		inputQueue.add(message);
+	}
+	
+	@ThreadSafe
+	protected void sendMessage(ProtobufMessage message) {
+		outputQueue.add(message);
+	}
+
+	@BridgeThread
+	protected void updateMessageQueue() {
+		ProtobufMessage message = null;
+		while((message = outputQueue.poll()) != null) {
+			if(!sendMessageReal(message))
+				return;
+		}
+	}
+	
+	@VRServerThread
+	@Override
+	public void dataRead() {
+		hadNewData = false;
+		ProtobufMessage message = null;
+		while((message = inputQueue.poll()) != null) {
+			processMessageRecieved(message);
+			hadNewData = true;
+		}
+		if(hadNewData && hmdTracker != null) {
+			trackerOverrideUpdate(hmdTracker, hmd);
+		}
+	}
+
+	@VRServerThread
+	protected void trackerOverrideUpdate(T source, ComputedTracker target) {
+		target.position.set(source.position);
+		target.rotation.set(source.rotation);
+		target.setStatus(source.getStatus());
+		target.dataTick();
+	}
+
+	@VRServerThread
+	@Override
+	public void dataWrite() {
+		if(!hadNewData) // Don't write anything if no message were recieved, we always process at the speed of the other side
+			return;
+		for(int i = 0; i < sharedTrackers.size(); ++i) {
+			writeTrackerUpdate(sharedTrackers.get(i));
+		}
+	}
+
+	@VRServerThread
+	protected void writeTrackerUpdate(ShareableTracker localTracker) {
+		Position.Builder builder = Position.newBuilder().setTrackerId(localTracker.getTrackerId());
+		if(localTracker.getPosition(vec1)) {
+			builder.setX(vec1.x);
+			builder.setY(vec1.y);
+			builder.setZ(vec1.z);
+		}
+		if(localTracker.getRotation(quat1)) {
+			builder.setQx(quat1.getX());
+			builder.setQy(quat1.getY());
+			builder.setQz(quat1.getZ());
+			builder.setQw(quat1.getW());
+		}
+		sendMessage(ProtobufMessage.newBuilder().setPosition(builder).build());
+	}
+	
+	@VRServerThread
+	protected void processMessageRecieved(ProtobufMessage message) {
+		//if(!message.hasPosition())
+		//	LogManager.log.info("[" + bridgeName + "] MSG: " + message);
+		if(message.hasPosition()) {
+			positionRecieved(message.getPosition());
+		} else if(message.hasUserAction()) {
+			userActionRecieved(message.getUserAction());
+		} else if(message.hasTrackerStatus()) {
+			trackerStatusRecieved(message.getTrackerStatus());
+		} else if(message.hasTrackerAdded()) {
+			trackerAddedRecieved(message.getTrackerAdded());
+		}
+	}
+	
+	@VRServerThread
+	protected void positionRecieved(Position positionMessage) {
+		T tracker = getInternalRemoteTrackerById(positionMessage.getTrackerId());
+		if(tracker != null) {
+			if(positionMessage.hasX())
+				tracker.position.set(positionMessage.getX(), positionMessage.getY(), positionMessage.getZ());
+			tracker.rotation.set(positionMessage.getQx(), positionMessage.getQy(), positionMessage.getQz(), positionMessage.getQw());
+			tracker.dataTick();
+		}
+	}
+	
+	@VRServerThread
+	protected abstract T createNewTracker(TrackerAdded trackerAdded);
+
+	@VRServerThread
+	protected void trackerAddedRecieved(TrackerAdded trackerAdded) {
+		T tracker = getInternalRemoteTrackerById(trackerAdded.getTrackerId());
+		if(tracker != null) {
+			// TODO reinit?
+			return;
+		}
+		tracker = createNewTracker(trackerAdded);
+		synchronized(remoteTrackersBySerial) {
+			remoteTrackersBySerial.put(tracker.getName(), tracker);
+		}
+		synchronized(remoteTrackersByTrackerId) {
+			remoteTrackersByTrackerId.put(tracker.getTrackerId(), tracker);
+		}
+		if(trackerAdded.getTrackerRole() == TrackerRole.HMD.id) {
+			hmdTracker = tracker;
+		} else {
+			Main.vrServer.registerTracker(tracker);
+		}
+	}
+
+	@VRServerThread
+	protected void userActionRecieved(UserAction userAction) {
+		switch(userAction.getName()) {
+		case "calibrate":
+			// TODO : Check pose field
+			Main.vrServer.resetTrackers();
+			break;
+		}
+	}
+
+	@VRServerThread
+	protected void trackerStatusRecieved(TrackerStatus trackerStatus) {
+		T tracker = getInternalRemoteTrackerById(trackerStatus.getTrackerId());
+		if(tracker != null) {
+			tracker.setStatus(io.eiren.vr.trackers.TrackerStatus.getById(trackerStatus.getStatusValue()));
+		}
+	}
+    
+	@ThreadSafe
+	protected T getInternalRemoteTrackerById(int trackerId) {
+		synchronized(remoteTrackersByTrackerId) {
+			return remoteTrackersByTrackerId.get(trackerId);
+		}
+	}
+
+	@VRServerThread
+	protected void reconnected() {
+		for(int i = 0; i < sharedTrackers.size(); ++i) {
+			ShareableTracker tracker = sharedTrackers.get(i);
+			TrackerAdded.Builder builder = TrackerAdded.newBuilder().setTrackerId(tracker.getTrackerId()).setTrackerName(tracker.getDescriptiveName()).setTrackerSerial(tracker.getName()).setTrackerRole(tracker.getTrackerRole().id);
+			sendMessage(ProtobufMessage.newBuilder().setTrackerAdded(builder).build());
+		}
+	}
+
+	@VRServerThread
+	protected void disconnected() {
+		synchronized(remoteTrackersByTrackerId) {
+			Iterator<Entry<Integer, T>> iterator = remoteTrackersByTrackerId.entrySet().iterator();
+			while(iterator.hasNext()) {
+				iterator.next().getValue().setStatus(io.eiren.vr.trackers.TrackerStatus.DISCONNECTED);
+			}
+		}
+		if(hmdTracker != null) {
+			hmd.setStatus(io.eiren.vr.trackers.TrackerStatus.DISCONNECTED);
+		}
+	}
+
+	@VRServerThread
+	@Override
+	public void addSharedTracker(ShareableTracker tracker) {
+		if(sharedTrackers.contains(tracker))
+			return;
+		sharedTrackers.add(tracker);
+		TrackerAdded.Builder builder = TrackerAdded.newBuilder().setTrackerId(tracker.getTrackerId()).setTrackerName(tracker.getDescriptiveName()).setTrackerSerial(tracker.getName()).setTrackerRole(tracker.getTrackerRole().id);
+		sendMessage(ProtobufMessage.newBuilder().setTrackerAdded(builder).build());
+	}
+
+	@VRServerThread
+	@Override
+	public void removeSharedTracker(ShareableTracker tracker) {
+		sharedTrackers.remove(tracker);
+		// No message can be sent to the remote side, protocol doesn't support tracker removal (yet)
+	}
+}

src/main/java/dev/slimevr/bridge/SteamVRPipeInputBridge.java

@@ -1,4 +1,4 @@
-package io.eiren.vr.bridge;
+package dev.slimevr.bridge;
 
 import java.io.IOException;
 import java.util.HashMap;
@@ -13,16 +13,19 @@ 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.platform.win32.WinError;
 import com.sun.jna.ptr.IntByReference;
 
+import dev.slimevr.bridge.Pipe.PipeState;
 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.VRTracker;
+import io.eiren.vr.trackers.ShareableTracker;
+import io.eiren.vr.trackers.TrackerPosition;
 import io.eiren.vr.trackers.TrackerStatus;
 
-public class SteamVRPipeInputBridge extends Thread implements VRBridge {
+public class SteamVRPipeInputBridge extends Thread implements Bridge {
 
 	private static final int MAX_COMMAND_LENGTH = 2048;
 	public static final String PipeName = "\\\\.\\pipe\\SlimeVRInput";
@@ -30,8 +33,8 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 	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 final List<VRTracker> trackers = new FastList<>();
+	private final Map<Integer, VRTracker> trackersInternal = new HashMap<>();
 	private AtomicBoolean newData = new AtomicBoolean(false);
 	private final Vector3f vBuffer = new Vector3f();
 	private final Quaternion qBuffer = new Quaternion();
@@ -46,14 +49,22 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 		try {
 			createPipes();
 			while(true) {
-				waitForPipesToOpen();
-				if(areAllPipesOpen()) {
-					boolean pipesUpdated = updatePipes(); // Update at HMDs frequency
-					if(!pipesUpdated) {
+				boolean pipesUpdated = false;
+				if(pipe.state == PipeState.CREATED) {
+					tryOpeningPipe(pipe);
+				}
+				if(pipe.state == PipeState.OPEN) {
+					pipesUpdated = updatePipes();
+				}
+				if(pipe.state == PipeState.ERROR) {
+					resetPipe();
+				}
+				if(!pipesUpdated) {
+					try {
 						Thread.sleep(5); // Up to 200Hz
+					} catch(InterruptedException e) {
+						e.printStackTrace();
 					}
-				} else {
-					Thread.sleep(10);
 				}
 			}
 		} catch(Exception e) {
@@ -61,12 +72,6 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 		}
 	}
 	
-	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);
@@ -88,11 +93,15 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 							}
 						}
 						if(bytesRead < buffArray.length)
-							break; // Don't repeat, we read all available bytes
+							return true; // All pipe data read
 					}
-					return true;
+				} else {
+					return false; // Pipe was empty, it's okay
 				}
 			}
+			// PeekNamedPipe or ReadFile returned an error
+			pipe.state = PipeState.ERROR;
+			LogManager.log.severe("[SteamVRPipeInputBridge] Pipe error: " + Kernel32.INSTANCE.GetLastError());
 		}
 		return false;
 	}
@@ -105,15 +114,15 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 				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), true, true);
+			VRTracker internalTracker = new VRTracker(Integer.parseInt(command[1]), StringUtils.join(command, " ", 3, command.length), true, true);
 			int roleId = Integer.parseInt(command[2]);
 			if(roleId >= 0 && roleId < SteamVRInputRoles.values.length) {
 				SteamVRInputRoles svrRole = SteamVRInputRoles.values[roleId];
 				internalTracker.bodyPosition = svrRole.bodyPosition;
 			}
-			SteamVRTracker oldTracker;
+			VRTracker oldTracker;
 			synchronized(trackersInternal) {
-				oldTracker = trackersInternal.put(internalTracker.id, internalTracker);
+				oldTracker = trackersInternal.put(internalTracker.getTrackerId(), internalTracker);
 			}
 			if(oldTracker != null) {
 				LogManager.log.severe("[SteamVRPipeInputBridge] New tracker added with the same id. Supplied: " + commandBuilder.toString());
@@ -165,25 +174,20 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 	
 	@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();
+					Iterator<VRTracker> iterator = trackersInternal.values().iterator();
 					internal: while(iterator.hasNext()) {
-						SteamVRTracker internalTracker = iterator.next();
+						VRTracker internalTracker = iterator.next();
 						for(int i = 0; i < trackers.size(); ++i) {
-							SteamVRTracker t = trackers.get(i);
-							if(t.id == internalTracker.id)
+							VRTracker t = trackers.get(i);
+							if(t.getTrackerId() == internalTracker.getTrackerId())
 								continue internal;
 						}
 						// Tracker is not found in current trackers
-						SteamVRTracker tracker = new SteamVRTracker(internalTracker.id, internalTracker.getName(), true, true);
+						VRTracker tracker = new VRTracker(internalTracker.getTrackerId(), internalTracker.getName(), true, true);
 						tracker.bodyPosition = internalTracker.bodyPosition;
 						trackers.add(tracker);
 						server.registerTracker(tracker);
@@ -191,10 +195,10 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 				}
 			}
 			for(int i = 0; i < trackers.size(); ++i) {
-				SteamVRTracker tracker = trackers.get(i);
-				SteamVRTracker internal = trackersInternal.get(tracker.id);
+				VRTracker tracker = trackers.get(i);
+				VRTracker internal = trackersInternal.get(tracker.getTrackerId());
 				if(internal == null)
-					throw new NullPointerException("Lost internal tracker somehow: " + tracker.id); // Shouln't really happen even, but better to catch it like this
+					throw new NullPointerException("Lost internal tracker somehow: " + tracker.getTrackerId()); // Shouln't really happen even, but better to catch it like this
 				if(internal.getPosition(vBuffer))
 					tracker.position.set(vBuffer);
 				if(internal.getRotation(qBuffer))
@@ -205,8 +209,19 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 		}
 	}
 	
+	@Override
+	public void dataWrite() {
+		// Not used, only input
+	}
+	
+	private void resetPipe() {
+		Pipe.safeDisconnect(pipe);
+		pipe.state = PipeState.CREATED;
+		//Main.vrServer.queueTask(this::disconnected);
+	}
+	
 	private boolean tryOpeningPipe(Pipe pipe) {
-		if(Kernel32.INSTANCE.ConnectNamedPipe(pipe.pipeHandle, null)) {
+		if(Kernel32.INSTANCE.ConnectNamedPipe(pipe.pipeHandle, null) || Kernel32.INSTANCE.GetLastError() == WinError.ERROR_PIPE_CONNECTED) {
 			pipe.state = PipeState.OPEN;
 			LogManager.log.info("[SteamVRPipeInputBridge] Pipe " + pipe.name + " is open");
 			return true;
@@ -216,13 +231,6 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 		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
@@ -237,40 +245,49 @@ public class SteamVRPipeInputBridge extends Thread implements VRBridge {
 				throw new IOException("Can't open " + PipeName + " pipe: " + Kernel32.INSTANCE.GetLastError());
 			LogManager.log.info("[SteamVRPipeInputBridge] Pipes are open");
 		} catch(IOException e) {
-			safeDisconnect(pipe);
+			Pipe.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) {
-		}
+
+	@Override
+	public void addSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void removeSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
 	}
 	
 	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),
+		HEAD(TrackerPosition.HMD),
+		LEFT_HAND(TrackerPosition.LEFT_CONTROLLER),
+		RIGHT_HAND(TrackerPosition.RIGHT_CONTROLLER),
+		LEFT_FOOT(TrackerPosition.LEFT_FOOT),
+		RIGHT_FOOT(TrackerPosition.RIGHT_FOOT),
+		LEFT_SHOULDER(TrackerPosition.NONE),
+		RIGHT_SHOULDER(TrackerPosition.NONE),
+		LEFT_ELBOW(TrackerPosition.NONE),
+		RIGHT_ELBOW(TrackerPosition.NONE),
+		LEFT_KNEE(TrackerPosition.LEFT_LEG),
+		RIGHT_KNEE(TrackerPosition.RIGHT_LEG),
+		WAIST(TrackerPosition.WAIST),
+		CHEST(TrackerPosition.CHEST),
 		;
 		
 		private static final SteamVRInputRoles[] values = values();
-		public final TrackerBodyPosition bodyPosition;
+		public final TrackerPosition bodyPosition;
 		
-		private SteamVRInputRoles(TrackerBodyPosition slimeVrPosition) {
+		private SteamVRInputRoles(TrackerPosition slimeVrPosition) {
 			this.bodyPosition = slimeVrPosition;
 		}
 	}
+
+	@Override
+	public void startBridge() {
+		start();
+	}
 }

src/main/java/dev/slimevr/bridge/VMCBridge.java

@@ -1,8 +1,11 @@
-package io.eiren.vr.bridge;
+package dev.slimevr.bridge;
 
 import java.net.InetAddress;
 
-public class VMCBridge extends Thread implements VRBridge {
+import io.eiren.vr.trackers.ShareableTracker;
+import io.eiren.vr.trackers.Tracker;
+
+public class VMCBridge extends Thread implements Bridge {
 	
 	public final int readPort;
 	public final int writePort;
@@ -28,5 +31,22 @@ public class VMCBridge extends Thread implements VRBridge {
 		// TODO Auto-generated method stub
 		
 	}
+
+	@Override
+	public void addSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void removeSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void startBridge() {
+		start();
+	}
 	
 }

src/main/java/dev/slimevr/bridge/WebSocketVRBridge.java

@@ -0,0 +1,194 @@
+package dev.slimevr.bridge;
+
+import java.net.InetSocketAddress;
+import java.nio.ByteBuffer;
+import java.util.Collections;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import org.java_websocket.WebSocket;
+import org.java_websocket.drafts.Draft;
+import org.java_websocket.drafts.Draft_6455;
+import org.java_websocket.handshake.ClientHandshake;
+import org.java_websocket.server.WebSocketServer;
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
+
+import io.eiren.util.collections.FastList;
+import io.eiren.util.logging.LogManager;
+import io.eiren.vr.Main;
+import io.eiren.vr.VRServer;
+import io.eiren.vr.trackers.ComputedTracker;
+import io.eiren.vr.trackers.HMDTracker;
+import io.eiren.vr.trackers.ShareableTracker;
+import io.eiren.vr.trackers.Tracker;
+import io.eiren.vr.trackers.TrackerStatus;
+
+public class WebSocketVRBridge extends WebSocketServer implements Bridge {
+	
+	private final Vector3f vBuffer = new Vector3f();
+	private final Quaternion qBuffer = new Quaternion();
+	
+	private final HMDTracker hmd;
+	private final List<? extends ShareableTracker> shareTrackers;
+	private final List<ComputedTracker> internalTrackers;
+	
+	private final HMDTracker internalHMDTracker = new HMDTracker("itnernal://HMD");
+	private final AtomicBoolean newHMDData = new AtomicBoolean(false);
+	
+	public WebSocketVRBridge(HMDTracker hmd, List<? extends ShareableTracker> shareTrackers, VRServer server) {
+		super(new InetSocketAddress(21110), Collections.<Draft>singletonList(new Draft_6455()));
+		this.hmd = hmd;
+		this.shareTrackers = new FastList<>(shareTrackers);
+		this.internalTrackers = new FastList<>(shareTrackers.size());
+		for(int i = 0; i < shareTrackers.size(); ++i) {
+			Tracker t = shareTrackers.get(i);
+			ComputedTracker ct = new ComputedTracker(t.getTrackerId(), "internal://" + t.getName(), true, true);
+			ct.setStatus(TrackerStatus.OK);
+			ct.bodyPosition = t.getBodyPosition();
+			this.internalTrackers.add(ct);
+		}
+	}
+
+	@Override
+	public void dataRead() {
+		if(newHMDData.compareAndSet(true, false)) {
+			hmd.position.set(internalHMDTracker.position);
+			hmd.rotation.set(internalHMDTracker.rotation);
+			hmd.dataTick();
+		}
+	}
+
+	@Override
+	public void dataWrite() {
+		for(int i = 0; i < shareTrackers.size(); ++i) {
+			Tracker t = shareTrackers.get(i);
+			ComputedTracker it = this.internalTrackers.get(i);
+			if(t.getPosition(vBuffer))
+				it.position.set(vBuffer);
+			if(t.getRotation(qBuffer))
+				it.rotation.set(qBuffer);
+		}
+	}
+
+	@Override
+	public void onOpen(WebSocket conn, ClientHandshake handshake) {
+		LogManager.log.info("[WebSocket] New connection from: " + conn.getRemoteSocketAddress().getAddress().getHostAddress());
+		// Register trackers
+		for(int i = 0; i < internalTrackers.size(); ++i) {
+			JSONObject message = new JSONObject();
+			message.put("type", "config");
+			message.put("tracker_id", "SlimeVR Tracker " + (i + 1));
+			message.put("location", shareTrackers.get(i).getTrackerRole().name().toLowerCase());
+			message.put("tracker_type", message.optString("location"));
+			conn.send(message.toString());
+		}
+	}
+
+	@Override
+	public void onClose(WebSocket conn, int code, String reason, boolean remote) {
+		LogManager.log.info("[WebSocket] Disconnected: " + conn.getRemoteSocketAddress().getAddress().getHostAddress() + ", (" + code + ") " + reason + ". Remote: " + remote);
+	}
+
+	@Override
+	public void onMessage(WebSocket conn, ByteBuffer message) {
+		StringBuilder sb = new StringBuilder(message.limit());
+		while(message.hasRemaining()) {
+			sb.append((char) message.get());
+		}
+		onMessage(conn, sb.toString());
+	}
+	
+	@Override
+	public void onMessage(WebSocket conn, String message) {
+		//LogManager.log.info(message);
+		try {
+			JSONObject json = new JSONObject(message);
+			if(json.has("type")) {
+				switch(json.optString("type")) {
+				case "pos":
+					parsePosition(json, conn);
+					return;
+				case "action":
+					parseAction(json, conn);
+					return;
+				case "config": // TODO Ignore it for now, it should only register HMD in our test case with id 0
+					LogManager.log.info("[WebSocket] Config recieved: " + json.toString());
+					return;
+				}
+			}
+			LogManager.log.warning("[WebSocket] Unrecognized message from " + conn.getRemoteSocketAddress().getAddress().getHostAddress() + ": " + message);
+		} catch(Exception e) {
+			LogManager.log.severe("[WebSocket] Exception parsing message from " + conn.getRemoteSocketAddress().getAddress().getHostAddress() + ". Message: " + message, e);
+		}
+	}
+
+	private void parsePosition(JSONObject json, WebSocket conn) throws JSONException {
+		if(json.optInt("tracker_id") == 0) {
+			// Read HMD information
+			internalHMDTracker.position.set(json.optFloat("x"), json.optFloat("y") + 0.2f, json.optFloat("z")); // TODO Wtf is this hack? VRWorkout issue?
+			internalHMDTracker.rotation.set(json.optFloat("qx"), json.optFloat("qy"), json.optFloat("qz"), json.optFloat("qw"));
+			internalHMDTracker.dataTick();
+			newHMDData.set(true);
+			
+			// Send tracker info in reply
+			for(int i = 0; i < internalTrackers.size(); ++i) {
+				JSONObject message = new JSONObject();
+				message.put("type", "pos");
+				message.put("src", "full");
+				message.put("tracker_id", "SlimeVR Tracker " + (i + 1));
+				
+				ComputedTracker t = internalTrackers.get(i);
+				message.put("x", t.position.x);
+				message.put("y", t.position.y);
+				message.put("z", t.position.z);
+				message.put("qx", t.rotation.getX());
+				message.put("qy", t.rotation.getY());
+				message.put("qz", t.rotation.getZ());
+				message.put("qw", t.rotation.getW());
+				
+				conn.send(message.toString());
+			}
+		}
+	}
+
+	private void parseAction(JSONObject json, WebSocket conn) throws JSONException {
+		switch(json.optString("name")) {
+		case "calibrate":
+			Main.vrServer.resetTrackersYaw();
+			break;
+		}
+	}
+
+	@Override
+	public void onError(WebSocket conn, Exception ex) {
+		LogManager.log.severe("[WebSocket] Exception on connection " + (conn != null ? conn.getRemoteSocketAddress().getAddress().getHostAddress() : null), ex);
+	}
+
+	@Override
+	public void onStart() {
+		LogManager.log.info("[WebSocket] Web Socket VR Bridge started on port " + getPort());
+		setConnectionLostTimeout(0);
+	    setConnectionLostTimeout(1);
+	}
+
+	@Override
+	public void addSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void removeSharedTracker(ShareableTracker tracker) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void startBridge() {
+		start();
+	}
+}

src/main/java/dev/slimevr/gui/AbstractComponentListener.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.event.ComponentEvent;
 import java.awt.event.ComponentListener;

src/main/java/dev/slimevr/gui/AbstractWindowListener.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.event.WindowEvent;
 import java.awt.event.WindowListener;

src/main/java/dev/slimevr/gui/AutoBoneWindow.java

@@ -13,8 +13,6 @@ 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;
@@ -26,6 +24,7 @@ import javax.swing.event.MouseInputAdapter;
 import org.apache.commons.lang3.tuple.Pair;
 
 import dev.slimevr.autobone.AutoBone;
+import dev.slimevr.gui.swing.EJBox;
 import dev.slimevr.poserecorder.PoseFrame;
 import dev.slimevr.poserecorder.PoseFrameIO;
 import dev.slimevr.poserecorder.PoseRecorder;

src/main/java/dev/slimevr/gui/CalibrationWindow.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 
 import java.awt.Container;
@@ -12,6 +12,7 @@ import javax.swing.JTextArea;
 import javax.swing.border.EmptyBorder;
 import javax.swing.event.MouseInputAdapter;
 
+import dev.slimevr.gui.swing.EJBox;
 import io.eiren.util.ann.AWTThread;
 import io.eiren.vr.trackers.CalibratingTracker;
 import io.eiren.vr.trackers.Tracker;

src/main/java/dev/slimevr/gui/ScalableFont.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.Font;
 import java.text.AttributedCharacterIterator.Attribute;

src/main/java/dev/slimevr/gui/SkeletonConfig.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.event.MouseEvent;
 import java.util.HashMap;
@@ -8,13 +8,14 @@ import javax.swing.JButton;
 import javax.swing.JLabel;
 import javax.swing.event.MouseInputAdapter;
 
-import dev.slimevr.gui.AutoBoneWindow;
+import dev.slimevr.gui.swing.ButtonTimer;
+import dev.slimevr.gui.swing.EJBagNoStretch;
 import io.eiren.util.StringUtils;
 import io.eiren.util.ann.ThreadSafe;
 import io.eiren.vr.VRServer;
 import io.eiren.vr.processor.HumanSkeleton;
 
-public class SkeletonConfig extends EJBag {
+public class SkeletonConfig extends EJBagNoStretch {
 
 	private final VRServer server;
 	private final VRServerGUI gui;
@@ -22,7 +23,7 @@ public class SkeletonConfig extends EJBag {
 	private Map<String, SkeletonLabel> labels = new HashMap<>();
 
 	public SkeletonConfig(VRServer server, VRServerGUI gui) {
-		super();
+		super(false, true);
 		this.server = server;
 		this.gui = gui;
 		this.autoBone = new AutoBoneWindow(server, this);
@@ -61,7 +62,7 @@ public class SkeletonConfig extends EJBag {
 	        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
 	        		setSelected(hswl.getSkeletonConfigBoolean("Extended pelvis model"));
 				}
-			}}, s(c(0, row, 1), 3, 1));
+			}}, s(c(0, row, 2), 3, 1));
 			row++;
 			//*/
 			/*
@@ -86,11 +87,11 @@ public class SkeletonConfig extends EJBag {
 	        		HumanSkeletonWithLegs hswl = (HumanSkeletonWithLegs) newSkeleton;
 	        		setSelected(hswl.getSkeletonConfigBoolean("Extended knee model"));
 				}
-			}}, s(c(0, row, 1), 3, 1));
+			}}, s(c(0, row, 2), 3, 1));
 			row++;
 			//*/
 
-			add(new TimedResetButton("Reset All", "All"), s(c(1, row, 1), 3, 1));
+			add(new TimedResetButton("Reset All", "All"), s(c(1, row, 2), 3, 1));
 			add(new JButton("Auto") {{
 				addMouseListener(new MouseInputAdapter() {
 					@Override
@@ -99,70 +100,70 @@ public class SkeletonConfig extends EJBag {
 						autoBone.toFront();
 					}
 				});
-			}}, s(c(4, row, 1), 3, 1));
+			}}, s(c(4, row, 2), 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));
+			add(new JLabel("Chest"), c(0, row, 2));
+			add(new AdjButton("+", "Chest", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Chest"), c(2, row, 2));
+			add(new AdjButton("-", "Chest", -0.01f), c(3, row, 2));
+			add(new ResetButton("Reset", "Chest"), c(4, row, 2));
 			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));
-			add(new AdjButton("-", "Waist", -0.01f), c(3, row, 1));
-			add(new TimedResetButton("Reset", "Waist"), c(4, row, 1));
+			add(new JLabel("Waist"), c(0, row, 2));
+			add(new AdjButton("+", "Waist", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Waist"), c(2, row, 2));
+			add(new AdjButton("-", "Waist", -0.01f), c(3, row, 2));
+			add(new TimedResetButton("Reset", "Waist"), c(4, row, 2));
 			row++;
 
-			add(new JLabel("Hips width"), c(0, row, 1));
-			add(new AdjButton("+", "Hips width", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Hips width"), c(2, row, 1));
-			add(new AdjButton("-", "Hips width", -0.01f), c(3, row, 1));
-			add(new ResetButton("Reset", "Hips width"), c(4, row, 1));
+			add(new JLabel("Hips width"), c(0, row, 2));
+			add(new AdjButton("+", "Hips width", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Hips width"), c(2, row, 2));
+			add(new AdjButton("-", "Hips width", -0.01f), c(3, row, 2));
+			add(new ResetButton("Reset", "Hips width"), c(4, row, 2));
 			row++;
 
-			add(new JLabel("Legs length"), c(0, row, 1));
-			add(new AdjButton("+", "Legs length", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Legs length"), c(2, row, 1));
-			add(new AdjButton("-", "Legs length", -0.01f), c(3, row, 1));
-			add(new TimedResetButton("Reset", "Legs length"), c(4, row, 1));
+			add(new JLabel("Legs length"), c(0, row, 2));
+			add(new AdjButton("+", "Legs length", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Legs length"), c(2, row, 2));
+			add(new AdjButton("-", "Legs length", -0.01f), c(3, row, 2));
+			add(new TimedResetButton("Reset", "Legs length"), c(4, row, 2));
 			row++;
 
-			add(new JLabel("Knee height"), c(0, row, 1));
-			add(new AdjButton("+", "Knee height", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Knee height"), c(2, row, 1));
-			add(new AdjButton("-", "Knee height", -0.01f), c(3, row, 1));
-			add(new TimedResetButton("Reset", "Knee height"), c(4, row, 1));
+			add(new JLabel("Knee height"), c(0, row, 2));
+			add(new AdjButton("+", "Knee height", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Knee height"), c(2, row, 2));
+			add(new AdjButton("-", "Knee height", -0.01f), c(3, row, 2));
+			add(new TimedResetButton("Reset", "Knee height"), c(4, row, 2));
 			row++;
 
-			add(new JLabel("Foot length"), c(0, row, 1));
-			add(new AdjButton("+", "Foot length", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Foot length"), c(2, row, 1));
-			add(new AdjButton("-", "Foot length", -0.01f), c(3, row, 1));
-			add(new ResetButton("Reset", "Foot length"), c(4, row, 1));
+			add(new JLabel("Foot length"), c(0, row, 2));
+			add(new AdjButton("+", "Foot length", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Foot length"), c(2, row, 2));
+			add(new AdjButton("-", "Foot length", -0.01f), c(3, row, 2));
+			add(new ResetButton("Reset", "Foot length"), c(4, row, 2));
 			row++;
 
-			add(new JLabel("Head offset"), c(0, row, 1));
-			add(new AdjButton("+", "Head", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Head"), c(2, row, 1));
-			add(new AdjButton("-", "Head", -0.01f), c(3, row, 1));
-			add(new ResetButton("Reset", "Head"), c(4, row, 1));
+			add(new JLabel("Head offset"), c(0, row, 2));
+			add(new AdjButton("+", "Head", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Head"), c(2, row, 2));
+			add(new AdjButton("-", "Head", -0.01f), c(3, row, 2));
+			add(new ResetButton("Reset", "Head"), c(4, row, 2));
 			row++;
 
-			add(new JLabel("Neck length"), c(0, row, 1));
-			add(new AdjButton("+", "Neck", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Neck"), c(2, row, 1));
-			add(new AdjButton("-", "Neck", -0.01f), c(3, row, 1));
-			add(new ResetButton("Reset", "Neck"), c(4, row, 1));
+			add(new JLabel("Neck length"), c(0, row, 2));
+			add(new AdjButton("+", "Neck", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Neck"), c(2, row, 2));
+			add(new AdjButton("-", "Neck", -0.01f), c(3, row, 2));
+			add(new ResetButton("Reset", "Neck"), c(4, row, 2));
 			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));
+			add(new JLabel("Virtual waist"), c(0, row, 2));
+			add(new AdjButton("+", "Virtual waist", 0.01f), c(1, row, 2));
+			add(new SkeletonLabel("Virtual waist"), c(2, row, 2));
+			add(new AdjButton("-", "Virtual waist", -0.01f), c(3, row, 2));
+			add(new ResetButton("Reset", "Virtual waist"), c(4, row, 2));
 			row++;
 
 			gui.refresh();

src/main/java/dev/slimevr/gui/SkeletonList.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.GridBagConstraints;
 import java.util.List;
@@ -9,6 +9,7 @@ import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
+import dev.slimevr.gui.swing.EJBagNoStretch;
 import io.eiren.util.StringUtils;
 import io.eiren.util.ann.ThreadSafe;
 import io.eiren.util.ann.VRServerThread;
@@ -17,7 +18,7 @@ import io.eiren.vr.VRServer;
 import io.eiren.vr.processor.HumanSkeleton;
 import io.eiren.vr.processor.TransformNode;
 
-public class SkeletonList extends EJBag {
+public class SkeletonList extends EJBagNoStretch {
 	
 	private static final long UPDATE_DELAY = 50;
 
@@ -25,14 +26,12 @@ public class SkeletonList extends EJBag {
 	Vector3f v = new Vector3f();
 	float[] angles = new float[3];
 	
-	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();
-		this.server = server;
+		super(false, true);
 		this.gui = gui;
 
 		setAlignmentY(TOP_ALIGNMENT);

src/main/java/dev/slimevr/gui/TrackersList.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.Color;
 import java.awt.Font;
@@ -17,12 +17,13 @@ import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
+import dev.slimevr.gui.swing.EJBagNoStretch;
+import dev.slimevr.gui.swing.EJBoxNoStretch;
 import io.eiren.util.StringUtils;
 import io.eiren.util.ann.AWTThread;
 import io.eiren.util.ann.ThreadSafe;
 import io.eiren.util.collections.FastList;
 import io.eiren.vr.VRServer;
-import io.eiren.vr.processor.TrackerBodyPosition;
 import io.eiren.vr.trackers.ReferenceAdjustedTracker;
 import io.eiren.vr.trackers.ComputedTracker;
 import io.eiren.vr.trackers.HMDTracker;
@@ -30,10 +31,11 @@ import io.eiren.vr.trackers.IMUTracker;
 import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerConfig;
 import io.eiren.vr.trackers.TrackerMountingRotation;
+import io.eiren.vr.trackers.TrackerPosition;
 import io.eiren.vr.trackers.TrackerWithBattery;
 import io.eiren.vr.trackers.TrackerWithTPS;
 
-public class TrackersList extends EJBox {
+public class TrackersList extends EJBoxNoStretch {
 	
 	private static final long UPDATE_DELAY = 50;
 	
@@ -48,7 +50,7 @@ public class TrackersList extends EJBox {
 	private long lastUpdate = 0;
 
 	public TrackersList(VRServer server, VRServerGUI gui) {
-		super(BoxLayout.PAGE_AXIS);
+		super(BoxLayout.PAGE_AXIS, false, true);
 		this.server = server;
 		this.gui = gui;
 
@@ -65,7 +67,7 @@ public class TrackersList extends EJBox {
 		
 		Class<? extends Tracker> currentClass = null;
 		
-		EJBox line = null;
+		EJBoxNoStretch line = null;
 		boolean first = true;
 		
 		for(int i = 0; i < trackers.size(); ++i) {
@@ -78,7 +80,7 @@ public class TrackersList extends EJBox {
 				if(line != null)
 					line.add(Box.createHorizontalGlue());
 				line = null;
-				line = new EJBox(BoxLayout.LINE_AXIS);
+				line = new EJBoxNoStretch(BoxLayout.LINE_AXIS, false, true);
 				line.add(Box.createHorizontalGlue());
 				JLabel nameLabel;
 				line.add(nameLabel = new JLabel(currentClass.getSimpleName()));
@@ -89,7 +91,7 @@ public class TrackersList extends EJBox {
 			}
 			
 			if(line == null) {
-				line = new EJBox(BoxLayout.LINE_AXIS);
+				line = new EJBoxNoStretch(BoxLayout.LINE_AXIS, false, true);
 				add(Box.createVerticalStrut(3));
 				add(line);
 				first = true;
@@ -125,7 +127,7 @@ public class TrackersList extends EJBox {
 		});
 	}
 	
-	private class TrackerPanel extends EJBag {
+	private class TrackerPanel extends EJBagNoStretch {
 		
 		final Tracker t;
 		JLabel position;
@@ -144,7 +146,8 @@ public class TrackersList extends EJBox {
 		
 		@AWTThread
 		public TrackerPanel(Tracker t) {
-			super();
+			super(false, true);
+			
 			this.t = t;
 		}
 
@@ -158,26 +161,26 @@ public class TrackersList extends EJBox {
 				realTracker = ((ReferenceAdjustedTracker<? extends Tracker>) t).getTracker();
 			removeAll();
 			JLabel nameLabel;
-			add(nameLabel = new JLabel(t.getName()), s(c(0, row, 0, GridBagConstraints.FIRST_LINE_START), 4, 1));
+			add(nameLabel = new JLabel(t.getDescriptiveName()), s(c(0, row, 2, 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, row, 0, GridBagConstraints.FIRST_LINE_START), 2, 1));
-				for(TrackerBodyPosition p : TrackerBodyPosition.values) {
+				add(desSelect = new JComboBox<>(), s(c(0, row, 2, GridBagConstraints.FIRST_LINE_START), 2, 1));
+				for(TrackerPosition p : TrackerPosition.values) {
 					desSelect.addItem(p.name());
 				}
 				if(cfg.designation != null) {
-					TrackerBodyPosition p = TrackerBodyPosition.getByDesignation(cfg.designation);
+					TrackerPosition p = TrackerPosition.getByDesignation(cfg.designation);
 					if(p != null)
 						desSelect.setSelectedItem(p.name());
 				}
 				desSelect.addActionListener(new ActionListener() {
 					@Override
 					public void actionPerformed(ActionEvent e) {
-						TrackerBodyPosition p = TrackerBodyPosition.valueOf(String.valueOf(desSelect.getSelectedItem()));
+						TrackerPosition p = TrackerPosition.valueOf(String.valueOf(desSelect.getSelectedItem()));
 						t.setBodyPosition(p);
 						server.trackerUpdated(t);
 					}
@@ -186,7 +189,7 @@ public class TrackersList extends EJBox {
 					IMUTracker imu = (IMUTracker) realTracker;
 					TrackerMountingRotation tr = imu.getMountingRotation();
 					JComboBox<String> mountSelect;
-					add(mountSelect = new JComboBox<>(), s(c(2, row, 0, GridBagConstraints.FIRST_LINE_START), 2, 1));
+					add(mountSelect = new JComboBox<>(), s(c(2, row, 2, GridBagConstraints.FIRST_LINE_START), 2, 1));
 					for(TrackerMountingRotation p : TrackerMountingRotation.values) {
 						mountSelect.addItem(p.name());
 					}
@@ -207,53 +210,59 @@ public class TrackersList extends EJBox {
 				row++;
 			}
 			if(t.hasRotation())
-				add(new JLabel("Rotation"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel("Rotation"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
 			if(t.hasPosition())
-				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++;
-			if(t.hasRotation())
-				add(rotation = new JLabel("0 0 0"), c(0, row, 0, GridBagConstraints.FIRST_LINE_START));
-			if(t.hasPosition())
-				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, row, 0, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel("Position"), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
+			add(new JLabel("TPS"), c(3, row, 2, GridBagConstraints.FIRST_LINE_START));
+			if(realTracker instanceof IMUTracker) {
+				add(new JLabel("Ping"), c(2, row, 2, 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));
+			if(t.hasRotation())
+				add(rotation = new JLabel("0 0 0"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+			if(t.hasPosition())
+				add(position = new JLabel("0 0 0"), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
+			if(realTracker instanceof IMUTracker) {
+				add(ping = new JLabel(""), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
+			}
+			if(realTracker instanceof TrackerWithTPS) {
+				add(tps = new JLabel("0"), c(3, row, 2, GridBagConstraints.FIRST_LINE_START));
+			} else {
+				add(new JLabel(""), c(3, row, 2, 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));
+			add(new JLabel("Status:"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+			add(status = new JLabel(t.getStatus().toString().toLowerCase()), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
+			if(realTracker instanceof TrackerWithBattery) {
+				add(new JLabel("Battery:"), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(bat = new JLabel("0"), c(3, row, 2, GridBagConstraints.FIRST_LINE_START));
+			}
+			row++;
+			add(new JLabel("Raw:"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+			add(raw = new JLabel("0 0 0"), s(c(1, row, 2, 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));
+				add(new JLabel("Raw mag:"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(rawMag = new JLabel("0 0 0"), s(c(1, row, 2, 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));
+				add(new JLabel("Cal:"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(calibration = new JLabel("0"), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel("Mag acc:"), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(magAccuracy = new JLabel("0°"), c(3, row, 2, 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));
+				add(new JLabel("Correction:"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(correction = new JLabel("0 0 0"), s(c(1, row, 2, GridBagConstraints.FIRST_LINE_START), 3, 1));
 				row++;
 			}
 			
 			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));
+				add(new JLabel("Adj:"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(adj = new JLabel("0 0 0 0"), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(new JLabel("AdjY:"), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
+				add(adjYaw = new JLabel("0 0 0 0"), c(3, row, 2, GridBagConstraints.FIRST_LINE_START));
 			}
 
-			setBorder(BorderFactory.createLineBorder(new Color(0x663399), 4, true));
+			setBorder(BorderFactory.createLineBorder(new Color(0x663399), 2, false));
 			TrackersList.this.add(this);
 			return this;
 		}

src/main/java/dev/slimevr/gui/VRServerGUI.java

@@ -1,16 +1,23 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import javax.imageio.ImageIO;
 import javax.swing.*;
 import javax.swing.border.EmptyBorder;
 import javax.swing.event.MouseInputAdapter;
 
+import dev.slimevr.bridge.NamedPipeBridge;
+import dev.slimevr.bridge.NamedPipeVRBridge;
+import dev.slimevr.gui.swing.ButtonTimer;
+import dev.slimevr.gui.swing.EJBagNoStretch;
+import dev.slimevr.gui.swing.EJBox;
+import dev.slimevr.gui.swing.EJBoxNoStretch;
 import io.eiren.util.MacOSX;
 import io.eiren.util.OperatingSystem;
 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.trackers.TrackerRole;
 
 import java.awt.Component;
 import java.awt.Container;
@@ -134,7 +141,7 @@ public class VRServerGUI extends JFrame {
 	private void build() {
 		pane.removeAll();
 		
-		pane.add(new EJBox(LINE_AXIS) {{
+		pane.add(new EJBoxNoStretch(LINE_AXIS, false, true) {{
 			setBorder(new EmptyBorder(i(5)));
 			
 			add(Box.createHorizontalGlue());
@@ -180,72 +187,95 @@ public class VRServerGUI extends JFrame {
 		
 		pane.add(new EJBox(LINE_AXIS) {{
 			setBorder(new EmptyBorder(i(5)));
-			add(new EJBox(PAGE_AXIS) {{
+			add(new EJBoxNoStretch(PAGE_AXIS, false, true) {{
 				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 list"));
+				JLabel l;
+				add(l = new JLabel("Trackers list"));
+				l.setFont(l.getFont().deriveFont(Font.BOLD));
+				l.setAlignmentX(0.5f);
 				add(trackersList);
 				add(Box.createVerticalGlue());
 			}});
 
-			add(new EJBox(PAGE_AXIS) {{
+			add(new EJBoxNoStretch(PAGE_AXIS, false, true) {{
 				setAlignmentY(TOP_ALIGNMENT);
-				add(new JLabel("Body proportions"));
+				JLabel l;
+				add(l = new JLabel("Body proportions"));
+				l.setFont(l.getFont().deriveFont(Font.BOLD));
+				l.setAlignmentX(0.5f);
 				add(new SkeletonConfig(server, VRServerGUI.this));
+				add(Box.createVerticalStrut(10));
+				if(server.hasBridge(NamedPipeBridge.class)) {
+					NamedPipeBridge br = server.getVRBridge(NamedPipeBridge.class);
+					add(l = new JLabel("SteamVR Trackers"));
+					l.setFont(l.getFont().deriveFont(Font.BOLD));
+					l.setAlignmentX(0.5f);
+					add(l = new JLabel("Changes may require restart of SteamVR"));
+					l.setFont(l.getFont().deriveFont(Font.ITALIC));
+					l.setAlignmentX(0.5f);
+					
+					add(new EJBagNoStretch(false, true) {{
+						JCheckBox waistCb;
+						add(waistCb = new JCheckBox("Waist"), c(1, 1));
+						waistCb.setSelected(br.getShareSetting(TrackerRole.WAIST));
+						waistCb.addActionListener(new ActionListener() {
+							@Override
+							public void actionPerformed(ActionEvent e) {
+								server.queueTask(() -> {
+									br.changeShareSettings(TrackerRole.WAIST, waistCb.isSelected());
+								});
+							}
+						});
+
+						JCheckBox legsCb;
+						add(legsCb = new JCheckBox("Legs"), c(2, 1));
+						legsCb.setSelected(br.getShareSetting(TrackerRole.LEFT_FOOT) && br.getShareSetting(TrackerRole.RIGHT_FOOT));
+						legsCb.addActionListener(new ActionListener() {
+							@Override
+							public void actionPerformed(ActionEvent e) {
+								server.queueTask(() -> {
+									br.changeShareSettings(TrackerRole.LEFT_FOOT, legsCb.isSelected());
+									br.changeShareSettings(TrackerRole.RIGHT_FOOT, legsCb.isSelected());
+								});
+							}
+						});
+
+						JCheckBox chestCb;
+						add(chestCb = new JCheckBox("Chest"), c(1, 2));
+						chestCb.setSelected(br.getShareSetting(TrackerRole.CHEST));
+						chestCb.addActionListener(new ActionListener() {
+							@Override
+							public void actionPerformed(ActionEvent e) {
+								server.queueTask(() -> {
+									br.changeShareSettings(TrackerRole.CHEST, chestCb.isSelected());
+								});
+							}
+						});
+
+						JCheckBox kneesCb;
+						add(kneesCb = new JCheckBox("Knees"), c(2, 2));
+						kneesCb.setSelected(br.getShareSetting(TrackerRole.LEFT_KNEE) && br.getShareSetting(TrackerRole.RIGHT_KNEE));
+						kneesCb.addActionListener(new ActionListener() {
+							@Override
+							public void actionPerformed(ActionEvent e) {
+								server.queueTask(() -> {
+									br.changeShareSettings(TrackerRole.LEFT_KNEE, kneesCb.isSelected());
+									br.changeShareSettings(TrackerRole.RIGHT_KNEE, kneesCb.isSelected());
+								});
+							}
+						});
+						
+					}});
+					
+					
+				add(Box.createVerticalStrut(10));
+				}
 				add(new JLabel("Skeleton data"));
 				add(skeletonList);
 				add(Box.createVerticalGlue());
 			}});
 		}});
+		pane.add(Box.createVerticalGlue());
 		
 		refresh();
 		

src/main/java/dev/slimevr/gui/WiFiWindow.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui;
 
 import java.awt.Container;
 import java.awt.event.MouseEvent;
@@ -26,6 +26,7 @@ import javax.swing.event.MouseInputAdapter;
 
 import com.fazecast.jSerialComm.SerialPort;
 
+import dev.slimevr.gui.swing.EJBox;
 import io.eiren.util.ann.AWTThread;
 
 public class WiFiWindow extends JFrame {

src/main/java/dev/slimevr/gui/swing/ButtonTimer.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui.swing;
 
 import java.util.Timer;
 import java.util.TimerTask;

src/main/java/dev/slimevr/gui/swing/EJBag.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui.swing;
 
 import java.awt.GridBagLayout;
 

src/main/java/dev/slimevr/gui/swing/EJBagNoStretch.java

@@ -0,0 +1,33 @@
+package dev.slimevr.gui.swing;
+
+import java.awt.Container;
+import java.awt.Dimension;
+import java.awt.GridBagLayout;
+
+public class EJBagNoStretch extends EJPanel {
+	
+	public EJBagNoStretch(boolean stretchVertical, boolean stretchHorizontal) {
+		super(new EGridBagLayoutNoStretch(stretchVertical, stretchHorizontal));
+	}
+	
+	private static class EGridBagLayoutNoStretch extends GridBagLayout {
+		
+		private final boolean stretchVertical;
+		private final boolean stretchHorizontal;
+		
+		public EGridBagLayoutNoStretch(boolean stretchVertical, boolean stretchHorizontal) {
+			this.stretchVertical = stretchVertical;
+			this.stretchHorizontal = stretchHorizontal;
+		}
+		
+		@Override
+		public Dimension maximumLayoutSize(Container target) {
+			Dimension pref = preferredLayoutSize(target);
+			if(stretchVertical)
+				pref.height = Integer.MAX_VALUE;
+			if(stretchHorizontal)
+				pref.width = Integer.MAX_VALUE;
+			return pref;
+	    }
+	}
+}

src/main/java/dev/slimevr/gui/swing/EJBox.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui.swing;
 
 import javax.swing.BoxLayout;
 

src/main/java/dev/slimevr/gui/swing/EJBoxNoStretch.java

@@ -0,0 +1,36 @@
+package dev.slimevr.gui.swing;
+
+import java.awt.Container;
+import java.awt.Dimension;
+
+import javax.swing.BoxLayout;
+
+public class EJBoxNoStretch extends EJPanel {
+	
+	public EJBoxNoStretch(int layout, boolean stretchVertical, boolean stretchHorizontal) {
+		super();
+		setLayout(new BoxLayoutNoStretch(this, layout, stretchVertical, stretchHorizontal));
+	}
+	
+	private static class BoxLayoutNoStretch extends BoxLayout {
+		
+		private final boolean stretchVertical;
+		private final boolean stretchHorizontal;
+		
+		public BoxLayoutNoStretch(Container target, int axis, boolean stretchVertical, boolean stretchHorizontal) {
+			super(target, axis);
+			this.stretchVertical = stretchVertical;
+			this.stretchHorizontal = stretchHorizontal;
+		}
+		
+		@Override
+		public Dimension maximumLayoutSize(Container target) {
+			Dimension pref = preferredLayoutSize(target);
+			if(stretchVertical)
+				pref.height = Integer.MAX_VALUE;
+			if(stretchHorizontal)
+				pref.width = Integer.MAX_VALUE;
+			return pref;
+	    }
+	}
+}

src/main/java/dev/slimevr/gui/swing/EJPanel.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui.swing;
 
 import java.awt.Component;
 import java.awt.Dimension;

src/main/java/dev/slimevr/gui/swing/EJlabel.java

@@ -1,4 +1,4 @@
-package io.eiren.gui;
+package dev.slimevr.gui.swing;
 
 import javax.swing.JLabel;
 

src/main/java/dev/slimevr/poserecorder/PoseFrameIO.java

@@ -13,7 +13,7 @@ import com.jme3.math.Vector3f;
 
 import io.eiren.util.collections.FastList;
 import io.eiren.util.logging.LogManager;
-import io.eiren.vr.processor.TrackerBodyPosition;
+import io.eiren.vr.trackers.TrackerPosition;
 
 public final class PoseFrameIO {
 	
@@ -91,9 +91,9 @@ public final class PoseFrameIO {
 				for(int j = 0; j < trackerFrameCount; j++) {
 					int dataFlags = inputStream.readInt();
 					
-					TrackerBodyPosition designation = null;
+					TrackerPosition designation = null;
 					if(TrackerFrameData.DESIGNATION.check(dataFlags)) {
-						designation = TrackerBodyPosition.getByDesignation(inputStream.readUTF());
+						designation = TrackerPosition.getByDesignation(inputStream.readUTF());
 					}
 					
 					Quaternion rotation = null;

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

@@ -6,9 +6,9 @@ import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
 import io.eiren.util.collections.FastList;
-import io.eiren.vr.processor.TrackerBodyPosition;
 import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerConfig;
+import io.eiren.vr.trackers.TrackerPosition;
 import io.eiren.vr.trackers.TrackerStatus;
 
 public class PoseFrameTracker implements Tracker, Iterable<TrackerFrame> {
@@ -17,6 +17,7 @@ public class PoseFrameTracker implements Tracker, Iterable<TrackerFrame> {
 	
 	private final FastList<TrackerFrame> frames;
 	private int frameCursor = 0;
+	private final int trackerId = Tracker.getNextLocalTrackerId();
 	
 	public PoseFrameTracker(String name, FastList<TrackerFrame> frames) {
 		if(frames == null) {
@@ -193,13 +194,13 @@ public class PoseFrameTracker implements Tracker, Iterable<TrackerFrame> {
 	}
 	
 	@Override
-	public TrackerBodyPosition getBodyPosition() {
+	public TrackerPosition getBodyPosition() {
 		TrackerFrame frame = safeGetFrame();
 		return frame == null ? null : frame.designation;
 	}
 	
 	@Override
-	public void setBodyPosition(TrackerBodyPosition position) {
+	public void setBodyPosition(TrackerPosition position) {
 		throw new UnsupportedOperationException("PoseFrameTracker does not allow setting the body position");
 	}
 	
@@ -230,4 +231,9 @@ public class PoseFrameTracker implements Tracker, Iterable<TrackerFrame> {
 	public Iterator<TrackerFrame> iterator() {
 		return frames.iterator();
 	}
+
+	@Override
+	public int getTrackerId() {
+		return this.trackerId;
+	}
 }

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

@@ -3,20 +3,21 @@ package dev.slimevr.poserecorder;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
-import io.eiren.vr.processor.TrackerBodyPosition;
 import io.eiren.vr.trackers.Tracker;
 import io.eiren.vr.trackers.TrackerConfig;
+import io.eiren.vr.trackers.TrackerPosition;
 import io.eiren.vr.trackers.TrackerStatus;
 
 public final class TrackerFrame implements Tracker {
 	
 	private int dataFlags = 0;
 	
-	public final TrackerBodyPosition designation;
+	public final TrackerPosition designation;
 	public final Quaternion rotation;
 	public final Vector3f position;
+	private final int trackerId = Tracker.getNextLocalTrackerId();
 	
-	public TrackerFrame(TrackerBodyPosition designation, Quaternion rotation, Vector3f position) {
+	public TrackerFrame(TrackerPosition designation, Quaternion rotation, Vector3f position) {
 		this.designation = designation;
 		if(designation != null) {
 			dataFlags |= TrackerFrameData.DESIGNATION.flag;
@@ -141,12 +142,12 @@ public final class TrackerFrame implements Tracker {
 	}
 	
 	@Override
-	public TrackerBodyPosition getBodyPosition() {
+	public TrackerPosition getBodyPosition() {
 		return designation;
 	}
 	
 	@Override
-	public void setBodyPosition(TrackerBodyPosition position) {
+	public void setBodyPosition(TrackerPosition position) {
 		throw new UnsupportedOperationException("TrackerFrame does not allow setting the body position");
 	}
 	
@@ -170,4 +171,9 @@ public final class TrackerFrame implements Tracker {
 		return true;
 	}
 	//#endregion
+
+	@Override
+	public int getTrackerId() {
+		return this.trackerId;
+	}
 }

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

@@ -0,0 +1,52 @@
+package io.eiren.vr;
+
+import com.melloware.jintellitype.JIntellitype;
+import com.melloware.jintellitype.HotkeyListener;
+import io.eiren.util.ann.AWTThread;
+import io.eiren.util.logging.LogManager;
+
+public class Keybinding implements HotkeyListener {
+	public final VRServer server;
+	private static final int RESET = 1;
+	private static final int QUICK_RESET = 2;
+
+	@AWTThread
+	public Keybinding(VRServer server) {
+		this.server = server;
+
+		if(JIntellitype.isJIntellitypeSupported()) {
+			JIntellitype.getInstance().addHotKeyListener(this);
+
+			String resetBinding = this.server.config.getString("keybindings.reset");
+			if(resetBinding == null) {
+				resetBinding = "CTRL+ALT+SHIFT+Y";
+				this.server.config.setProperty("keybindings.reset", resetBinding);
+			}
+			JIntellitype.getInstance().registerHotKey(RESET, resetBinding);
+			LogManager.log.info("[Keybinding] Bound reset to " + resetBinding);
+
+			String quickResetBinding = this.server.config.getString("keybindings.quickReset");
+			if(quickResetBinding == null) {
+				quickResetBinding = "CTRL+ALT+SHIFT+U";
+				this.server.config.setProperty("keybindings.quickReset", quickResetBinding);
+			}
+			JIntellitype.getInstance().registerHotKey(QUICK_RESET, quickResetBinding);
+			LogManager.log.info("[Keybinding] Bound quick reset to " + quickResetBinding);
+		}
+	}
+
+	@AWTThread
+	@Override
+	public void onHotKey(int identifier) {
+		switch(identifier) {
+		case RESET:
+			LogManager.log.info("[Keybinding] Reset pressed");
+			server.resetTrackers();
+			break;
+		case QUICK_RESET:
+			LogManager.log.info("[Keybinding] Quick reset pressed");
+			server.resetTrackersYaw();
+			break;
+		}
+	}
+}

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

@@ -2,12 +2,12 @@ package io.eiren.vr;
 
 import java.io.File;
 
-import io.eiren.gui.VRServerGUI;
+import dev.slimevr.gui.VRServerGUI;
 import io.eiren.util.logging.LogManager;
 
 public class Main {
 	
-	public static String VERSION = "0.0.19";
+	public static String VERSION = "0.1.0";
 	
 	public static VRServer vrServer;
 	
@@ -26,6 +26,7 @@ public class Main {
 		try {
 			vrServer = new VRServer();
 			vrServer.start();
+			new Keybinding(vrServer);
 			new VRServerGUI(vrServer);
 		} catch(Throwable e) {
 			e.printStackTrace();

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

@@ -15,17 +15,20 @@ import java.util.Queue;
 import java.util.concurrent.LinkedBlockingQueue;
 import java.util.function.Consumer;
 
+import dev.slimevr.bridge.Bridge;
+import dev.slimevr.bridge.NamedPipeBridge;
+import dev.slimevr.bridge.SteamVRPipeInputBridge;
+import dev.slimevr.bridge.VMCBridge;
+import dev.slimevr.bridge.WebSocketVRBridge;
+import io.eiren.util.OperatingSystem;
 import io.eiren.util.ann.ThreadSafe;
 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;
 import io.eiren.vr.processor.HumanSkeleton;
 import io.eiren.vr.trackers.HMDTracker;
+import io.eiren.vr.trackers.ShareableTracker;
 import io.eiren.vr.trackers.TrackersUDPServer;
 import io.eiren.yaml.YamlException;
 import io.eiren.yaml.YamlFile;
@@ -37,14 +40,15 @@ public class VRServer extends Thread {
 	
 	private final List<Tracker> trackers = new FastList<>();
 	public final HumanPoseProcessor humanPoseProcessor;
-	private final TrackersUDPServer trackersServer = new TrackersUDPServer(6969, "Sensors UDP server", this::registerTracker);
-	private final List<VRBridge> bridges = new FastList<>();
+	private final TrackersUDPServer trackersServer;
+	private final List<Bridge> bridges = new FastList<>();
 	private final Queue<Runnable> tasks = new LinkedBlockingQueue<>();
 	private final Map<String, TrackerConfig> configuration = new HashMap<>();
 	public final YamlFile config = new YamlFile();
 	public final HMDTracker hmdTracker;
 	private final List<Consumer<Tracker>> newTrackersConsumers = new FastList<>();
 	private final List<Runnable> onTick = new FastList<>();
+	private final List<? extends ShareableTracker> shareTrackers;
 	
 	public VRServer() {
 		super("VRServer");
@@ -52,22 +56,39 @@ 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, config.getInt("virtualtrackers", 3));
-		List<? extends Tracker> shareTrackers = humanPoseProcessor.getComputedTrackers();
+		humanPoseProcessor = new HumanPoseProcessor(this, hmdTracker);
+		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);
+		// Start server for SlimeVR trackers
+		trackersServer = new TrackersUDPServer(6969, "Sensors UDP server", this::registerTracker);
+		
+		// OpenVR bridge currently only supports Windows
+		if(OperatingSystem.getCurrentPlatform() == OperatingSystem.WINDOWS) {
+			/*
+			// Create named pipe bridge for SteamVR driver
+			NamedPipeVRBridge driverBridge = new NamedPipeVRBridge(hmdTracker, shareTrackers, this);
+			tasks.add(() -> driverBridge.startBridge());
+			bridges.add(driverBridge);
+			//*/
+			// Create named pipe bridge for SteamVR input
+			SteamVRPipeInputBridge steamVRInput = new SteamVRPipeInputBridge(this);
+			tasks.add(() -> steamVRInput.startBridge());
+			bridges.add(steamVRInput);
+			//*/
+			NamedPipeBridge driverBridge = new NamedPipeBridge(hmdTracker, "steamvr", "SteamVR Driver Bridge", "\\\\.\\pipe\\SlimeVRDriver", shareTrackers);
+			tasks.add(() -> driverBridge.startBridge());
+			bridges.add(driverBridge);
+		}
+		
+		// Create WebSocket server
+		WebSocketVRBridge wsBridge = new WebSocketVRBridge(hmdTracker, shareTrackers, this);
+		tasks.add(() -> wsBridge.startBridge());
+		bridges.add(wsBridge);
 		
 		// Create VMCBridge
 		try {
 			VMCBridge vmcBridge = new VMCBridge(39539, 39540, InetAddress.getLocalHost());
-			tasks.add(() -> vmcBridge.start());
+			tasks.add(() -> vmcBridge.startBridge());
 			bridges.add(vmcBridge);
 		} catch(UnknownHostException e) {
 			e.printStackTrace();
@@ -78,13 +99,21 @@ public class VRServer extends Thread {
 		for(int i = 0; i < shareTrackers.size(); ++i)
 			registerTracker(shareTrackers.get(i));
 	}
+	
+	public boolean hasBridge(Class<? extends Bridge> bridgeClass) {
+		for(int i = 0; i < bridges.size(); ++i) {
+			if(bridgeClass.isAssignableFrom(bridges.get(i).getClass()))
+				return true;
+		}
+		return false;
+	}
 
 	@ThreadSafe
-	public <E extends VRBridge> E getVRBridge(Class<E> cls) {
+	public <E extends Bridge> E getVRBridge(Class<E> bridgeClass) {
 		for(int i = 0; i < bridges.size(); ++i) {
-			VRBridge b = bridges.get(i);
-			if(cls.isInstance(b))
-				return cls.cast(b);
+			Bridge b = bridges.get(i);
+			if(bridgeClass.isAssignableFrom(b.getClass()))
+				return bridgeClass.cast(b);
 		}
 		return null;
 	}
@@ -94,7 +123,7 @@ public class VRServer extends Thread {
 		synchronized(configuration) {
 			TrackerConfig config = configuration.get(tracker.getName());
 			if(config == null) {
-				config = new TrackerConfig(tracker.getName());
+				config = new TrackerConfig(tracker);
 				configuration.put(tracker.getName(), config);
 			}
 			return config;

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

@@ -1,14 +0,0 @@
-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

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

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

@@ -1,8 +0,0 @@
-package io.eiren.vr.bridge;
-
-public interface VRBridge {
-
-	public void dataRead();
-	
-	public void dataWrite();
-}

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

@@ -2,16 +2,20 @@ package io.eiren.vr.processor;
 
 import io.eiren.util.BufferedTimer;
 import io.eiren.vr.trackers.ComputedTracker;
+import io.eiren.vr.trackers.ShareableTracker;
+import io.eiren.vr.trackers.TrackerRole;
 import io.eiren.vr.trackers.TrackerWithTPS;
 
-public class ComputedHumanPoseTracker extends ComputedTracker implements TrackerWithTPS {
+public class ComputedHumanPoseTracker extends ComputedTracker implements TrackerWithTPS, ShareableTracker {
 	
 	public final ComputedHumanPoseTrackerPosition skeletonPosition;
+	protected final TrackerRole trackerRole;
 	protected BufferedTimer timer = new BufferedTimer(1f);
 
-	public ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition skeletonPosition) {
-		super("human://" + skeletonPosition.name(), true, true);
+	public ComputedHumanPoseTracker(int trackerId, ComputedHumanPoseTrackerPosition skeletonPosition, TrackerRole role) {
+		super(trackerId, "human://" + skeletonPosition.name(), true, true);
 		this.skeletonPosition = skeletonPosition;
+		this.trackerRole = role;
 	}
 	
 	@Override
@@ -23,4 +27,9 @@ public class ComputedHumanPoseTracker extends ComputedTracker implements Tracker
 	public void dataTick() {
 		timer.update();
 	}
+
+	@Override
+	public TrackerRole getTrackerRole() {
+		return trackerRole;
+	}
 }

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

@@ -8,7 +8,9 @@ import io.eiren.util.ann.VRServerThread;
 import io.eiren.util.collections.FastList;
 import io.eiren.vr.VRServer;
 import io.eiren.vr.trackers.HMDTracker;
+import io.eiren.vr.trackers.ShareableTracker;
 import io.eiren.vr.trackers.Tracker;
+import io.eiren.vr.trackers.TrackerRole;
 import io.eiren.vr.trackers.TrackerStatus;
 
 public class HumanPoseProcessor {
@@ -18,20 +20,14 @@ public class HumanPoseProcessor {
 	private final List<Consumer<HumanSkeleton>> onSkeletonUpdated = new FastList<>();
 	private HumanSkeleton skeleton;
 
-	public HumanPoseProcessor(VRServer server, HMDTracker hmd, int trackersAmount) {
+	public HumanPoseProcessor(VRServer server, HMDTracker hmd) {
 		this.server = server;
-		computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.WAIST));
-		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));
-			}
-		}
+		computedTrackers.add(new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.WAIST, TrackerRole.WAIST));
+		computedTrackers.add(new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.LEFT_FOOT, TrackerRole.LEFT_FOOT));
+		computedTrackers.add(new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.RIGHT_FOOT, TrackerRole.RIGHT_FOOT));
+		computedTrackers.add(new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.CHEST, TrackerRole.CHEST));
+		computedTrackers.add(new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.LEFT_KNEE, TrackerRole.LEFT_KNEE));
+		computedTrackers.add(new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.RIGHT_KNEE, TrackerRole.RIGHT_KNEE));
 	}
 	
 	public HumanSkeleton getSkeleton() {
@@ -68,7 +64,7 @@ public class HumanPoseProcessor {
 	}
 	
 	@ThreadSafe
-	public List<? extends Tracker> getComputedTrackers() {
+	public List<? extends ShareableTracker> getComputedTrackers() {
 		return computedTrackers;
 	}
 

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

@@ -9,6 +9,8 @@ import com.jme3.math.Vector3f;
 import io.eiren.util.ann.VRServerThread;
 import io.eiren.vr.VRServer;
 import io.eiren.vr.trackers.Tracker;
+import io.eiren.vr.trackers.TrackerPosition;
+import io.eiren.vr.trackers.TrackerRole;
 import io.eiren.vr.trackers.TrackerStatus;
 import io.eiren.vr.trackers.TrackerUtils;
 
@@ -69,12 +71,12 @@ public class HumanSkeletonWithLegs extends HumanSkeletonWithWaist {
 	public HumanSkeletonWithLegs(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
 		super(server, computedTrackers);
 		List<Tracker> allTracekrs = server.getAllTrackers();
-		this.leftLegTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerBodyPosition.LEFT_LEG, TrackerBodyPosition.LEFT_ANKLE);
-		this.leftAnkleTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerBodyPosition.LEFT_ANKLE, TrackerBodyPosition.LEFT_LEG);
-		this.leftFootTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.LEFT_FOOT);
-		this.rightLegTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerBodyPosition.RIGHT_LEG, TrackerBodyPosition.RIGHT_ANKLE);
-		this.rightAnkleTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerBodyPosition.RIGHT_ANKLE, TrackerBodyPosition.RIGHT_LEG);
-		this.rightFootTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerBodyPosition.RIGHT_FOOT);
+		this.leftLegTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerPosition.LEFT_LEG, TrackerPosition.LEFT_ANKLE);
+		this.leftAnkleTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerPosition.LEFT_ANKLE, TrackerPosition.LEFT_LEG);
+		this.leftFootTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerPosition.LEFT_FOOT);
+		this.rightLegTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerPosition.RIGHT_LEG, TrackerPosition.RIGHT_ANKLE);
+		this.rightAnkleTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerPosition.RIGHT_ANKLE, TrackerPosition.RIGHT_LEG);
+		this.rightFootTracker = TrackerUtils.findTrackerForBodyPosition(allTracekrs, TrackerPosition.RIGHT_FOOT);
 		ComputedHumanPoseTracker lat = null;
 		ComputedHumanPoseTracker rat = null;
 		ComputedHumanPoseTracker rkt = null;
@@ -91,9 +93,9 @@ public class HumanSkeletonWithLegs extends HumanSkeletonWithWaist {
 				rkt = t;
 		}
 		if(lat == null)
-			lat = new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT);
+			lat = new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.LEFT_FOOT, TrackerRole.LEFT_FOOT);
 		if(rat == null)
-			rat = new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT);
+			rat = new ComputedHumanPoseTracker(Tracker.getNextLocalTrackerId(), ComputedHumanPoseTrackerPosition.RIGHT_FOOT, TrackerRole.RIGHT_FOOT);
 		computedLeftFootTracker = lat;
 		computedRightFootTracker = rat;
 		computedLeftKneeTracker = lkt;

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

@@ -11,6 +11,7 @@ import io.eiren.util.ann.VRServerThread;
 import io.eiren.vr.VRServer;
 import io.eiren.vr.trackers.HMDTracker;
 import io.eiren.vr.trackers.Tracker;
+import io.eiren.vr.trackers.TrackerPosition;
 import io.eiren.vr.trackers.TrackerStatus;
 import io.eiren.vr.trackers.TrackerUtils;
 
@@ -60,8 +61,8 @@ public class HumanSkeletonWithWaist extends HumanSkeleton {
 	
 	public HumanSkeletonWithWaist(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
 		List<Tracker> allTracekrs = server.getAllTrackers();
-		this.waistTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerBodyPosition.WAIST, TrackerBodyPosition.CHEST);
-		this.chestTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerBodyPosition.CHEST, TrackerBodyPosition.WAIST);
+		this.waistTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerPosition.WAIST, TrackerPosition.CHEST);
+		this.chestTracker = TrackerUtils.findTrackerForBodyPositionOrEmpty(allTracekrs, TrackerPosition.CHEST, TrackerPosition.WAIST);
 		this.hmdTracker = server.hmdTracker;
 		this.server = server;
 		ComputedHumanPoseTracker cwt = null;

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

@@ -1,39 +0,0 @@
-package io.eiren.vr.processor;
-
-import java.util.HashMap;
-import java.util.Map;
-
-public enum TrackerBodyPosition {
-	
-	NONE(""),
-	HMD("body:HMD"),
-	CHEST("body:chest"),
-	WAIST("body:waist"),
-	LEFT_LEG("body:left_leg"),
-	RIGHT_LEG("body:right_leg"),
-	LEFT_ANKLE("body:left_ankle"),
-	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;
-	
-	public static final TrackerBodyPosition[] values = values();
-	private static final Map<String, TrackerBodyPosition> byDesignation = new HashMap<>();
-	
-	private TrackerBodyPosition(String designation) {
-		this.designation = designation;
-	}
-	
-	public static TrackerBodyPosition getByDesignation(String designation) {
-		return designation == null ? null : byDesignation.get(designation.toLowerCase());
-	}
-	
-	static {
-		for(TrackerBodyPosition tbp : values())
-			byDesignation.put(tbp.designation.toLowerCase(), tbp);
-	}
-}

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

@@ -3,22 +3,28 @@ package io.eiren.vr.trackers;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
-import io.eiren.vr.processor.TrackerBodyPosition;
-
-public class ComputedTracker implements Tracker {
+public class ComputedTracker implements Tracker, TrackerWithTPS {
 
 	public final Vector3f position = new Vector3f();
 	public final Quaternion rotation = new Quaternion();
 	protected final String name;
+	protected final String serial;
 	protected TrackerStatus status = TrackerStatus.DISCONNECTED;
-	public TrackerBodyPosition bodyPosition = null;
+	public TrackerPosition bodyPosition = null;
 	protected final boolean hasRotation;
 	protected final boolean hasPosition;
+	protected final int trackerId;
 	
-	public ComputedTracker(String name, boolean hasRotation, boolean hasPosition) {
+	public ComputedTracker(int trackerId, String serial, String name, boolean hasRotation, boolean hasPosition) {
 		this.name = name;
+		this.serial = serial;
 		this.hasRotation = hasRotation;
 		this.hasPosition = hasPosition;
+		this.trackerId = trackerId;
+	}
+	
+	public ComputedTracker(int trackerId, String name, boolean hasRotation, boolean hasPosition) {
+		this(trackerId, name, name, hasRotation, hasPosition);
 	}
 	
 	@Override
@@ -30,12 +36,17 @@ public class ComputedTracker implements Tracker {
 	public void loadConfig(TrackerConfig config) {
 		// Loading a config is an act of user editing, therefore it shouldn't not be allowed if editing is not allowed
 		if (userEditable()) {
-			bodyPosition = TrackerBodyPosition.getByDesignation(config.designation);
+			bodyPosition = TrackerPosition.getByDesignation(config.designation);
 		}
 	}
 	
 	@Override
 	public String getName() {
+		return this.serial;
+	}
+	
+	@Override
+	public String getDescriptiveName() {
 		return this.name;
 	}
 	
@@ -74,12 +85,12 @@ public class ComputedTracker implements Tracker {
 	}
 
 	@Override
-	public TrackerBodyPosition getBodyPosition() {
+	public TrackerPosition getBodyPosition() {
 		return bodyPosition;
 	}
 
 	@Override
-	public void setBodyPosition(TrackerBodyPosition position) {
+	public void setBodyPosition(TrackerPosition position) {
 		this.bodyPosition = position;
 	}
 
@@ -87,6 +98,10 @@ public class ComputedTracker implements Tracker {
 	public boolean userEditable() {
 		return false;
 	}
+	
+	@Override
+	public void dataTick() {
+	}
 
 	@Override
 	public void tick() {
@@ -106,4 +121,14 @@ public class ComputedTracker implements Tracker {
 	public boolean isComputed() {
 		return true;
 	}
+
+	@Override
+	public float getTPS() {
+		return -1;
+	}
+
+	@Override
+	public int getTrackerId() {
+		return this.trackerId;
+	}
 }

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

@@ -0,0 +1,9 @@
+package io.eiren.vr.trackers;
+
+public enum DeviceType {
+	HMD,
+    CONTROLLER,
+    TRACKER,
+    TRACKING_REFERENCE,
+    ;
+}

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

@@ -1,15 +1,14 @@
 package io.eiren.vr.trackers;
 
 import io.eiren.util.BufferedTimer;
-import io.eiren.vr.processor.TrackerBodyPosition;
 
 public class HMDTracker extends ComputedTracker implements TrackerWithTPS {
 
 	protected BufferedTimer timer = new BufferedTimer(1f);
 	
 	public HMDTracker(String name) {
-		super(name, true, true);
-		setBodyPosition(TrackerBodyPosition.HMD);
+		super(0, name, true, true);
+		setBodyPosition(TrackerPosition.HMD);
 	}
 	
 	@Override

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

@@ -6,7 +6,6 @@ import com.jme3.math.Vector3f;
 
 import io.eiren.math.FloatMath;
 import io.eiren.util.BufferedTimer;
-import io.eiren.vr.processor.TrackerBodyPosition;
 
 public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	
@@ -21,8 +20,10 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	protected final Quaternion correction = new Quaternion();
 	protected TrackerMountingRotation mounting = null;
 	protected TrackerStatus status = TrackerStatus.OK;
+	protected final int trackerId;
 	
 	protected final String name;
+	protected final String descriptiveName;
 	protected final TrackersUDPServer server;
 	protected float confidence = 0;
 	protected float batteryVoltage = 0;
@@ -37,11 +38,13 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	
 	public StringBuilder serialBuffer = new StringBuilder();
 	long lastSerialUpdate = 0;
-	public TrackerBodyPosition bodyPosition = null;
+	public TrackerPosition bodyPosition = null;
 	
-	public IMUTracker(String name, TrackersUDPServer server) {
+	public IMUTracker(int trackerId, String name, String descriptiveName, TrackersUDPServer server) {
 		this.name = name;
 		this.server = server;
+		this.trackerId = trackerId;
+		this.descriptiveName = descriptiveName;
 	}
 	
 	@Override
@@ -64,7 +67,7 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 			} else {
 				rotAdjust.loadIdentity();
 			}
-			bodyPosition = TrackerBodyPosition.getByDesignation(config.designation);
+			bodyPosition = TrackerPosition.getByDesignation(config.designation);
 		}
 	}
 	
@@ -188,12 +191,12 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	}
 
 	@Override
-	public TrackerBodyPosition getBodyPosition() {
+	public TrackerPosition getBodyPosition() {
 		return bodyPosition;
 	}
 
 	@Override
-	public void setBodyPosition(TrackerBodyPosition position) {
+	public void setBodyPosition(TrackerPosition position) {
 		this.bodyPosition = position;
 	}
 
@@ -201,6 +204,31 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 	public boolean userEditable() {
 		return true;
 	}
+
+	@Override
+	public boolean hasRotation() {
+		return true;
+	}
+
+	@Override
+	public boolean hasPosition() {
+		return false;
+	}
+
+	@Override
+	public boolean isComputed() {
+		return false;
+	}
+
+	@Override
+	public int getTrackerId() {
+		return this.trackerId;
+	}
+	
+	@Override
+	public String getDescriptiveName() {
+		return this.descriptiveName;
+	}
 	
 	public enum CalibrationAccuracy {
 		
@@ -228,19 +256,4 @@ public class IMUTracker implements Tracker, TrackerWithTPS, TrackerWithBattery {
 				byStatus[ca.status] = ca;
 		}
 	}
-
-	@Override
-	public boolean hasRotation() {
-		return true;
-	}
-
-	@Override
-	public boolean hasPosition() {
-		return false;
-	}
-
-	@Override
-	public boolean isComputed() {
-		return false;
-	}
 }

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

@@ -6,8 +6,8 @@ public class MPUTracker extends IMUTracker {
 	
 	public ConfigurationData newCalibrationData;
 	
-	public MPUTracker(String name, TrackersUDPServer server) {
-		super(name, server);
+	public MPUTracker(int trackerId, String name, String descriptiveName, TrackersUDPServer server) {
+		super(trackerId, name, descriptiveName, server);
 	}
 	
 	public static class ConfigurationData {

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

@@ -3,8 +3,6 @@ package io.eiren.vr.trackers;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
-import io.eiren.vr.processor.TrackerBodyPosition;
-
 public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	
 	public final E tracker;
@@ -133,12 +131,12 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	}
 
 	@Override
-	public TrackerBodyPosition getBodyPosition() {
+	public TrackerPosition getBodyPosition() {
 		return tracker.getBodyPosition();
 	}
 
 	@Override
-	public void setBodyPosition(TrackerBodyPosition position) {
+	public void setBodyPosition(TrackerPosition position) {
 		tracker.setBodyPosition(position);
 	}
 
@@ -161,4 +159,14 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
 	public boolean isComputed() {
 		return tracker.isComputed();
 	}
+	
+	@Override
+	public int getTrackerId() {
+		return tracker.getTrackerId();
+	}
+	
+	@Override
+	public String getDescriptiveName() {
+		return tracker.getDescriptiveName();
+	}
 }

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

@@ -0,0 +1,6 @@
+package io.eiren.vr.trackers;
+
+public interface ShareableTracker extends Tracker {
+	
+	public TrackerRole getTrackerRole();
+}

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

@@ -1,12 +1,14 @@
 package io.eiren.vr.trackers;
 
+import java.util.concurrent.atomic.AtomicInteger;
+
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 
-import io.eiren.vr.processor.TrackerBodyPosition;
-
 public interface Tracker {
 	
+	public static final AtomicInteger nextLocalTrackerId = new AtomicInteger();
+	
 	public boolean getPosition(Vector3f store);
 	
 	public boolean getRotation(Quaternion store);
@@ -27,9 +29,9 @@ public interface Tracker {
 	
 	public void tick();
 	
-	public TrackerBodyPosition getBodyPosition();
+	public TrackerPosition getBodyPosition();
 	
-	public void setBodyPosition(TrackerBodyPosition position);
+	public void setBodyPosition(TrackerPosition position);
 	
 	public boolean userEditable();
 	
@@ -38,4 +40,14 @@ public interface Tracker {
 	public boolean hasPosition();
 
 	public boolean isComputed();
+	
+	public int getTrackerId();
+	
+	public default String getDescriptiveName() {
+		return getName();
+	}
+	
+	public static int getNextLocalTrackerId() {
+		return nextLocalTrackerId.incrementAndGet();
+	}
 }

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

@@ -8,16 +8,20 @@ public class TrackerConfig {
 	
 	public final String trackerName;
 	public String designation;
+	public String description;
 	public boolean hide;
 	public Quaternion adjustment;
 	public String mountingRotation;
 	
-	public TrackerConfig(String trackerName) {
-		this.trackerName = trackerName;
+	public TrackerConfig(Tracker tracker) {
+		this.trackerName = tracker.getName();
+		this.description = tracker.getDescriptiveName();
+		this.designation = tracker.getBodyPosition() != null ? tracker.getBodyPosition().designation : null;
 	}
 	
 	public TrackerConfig(YamlNode node) {
 		this.trackerName = node.getString("name");
+		this.description = node.getString("description");
 		this.designation = node.getString("designation");
 		this.hide = node.getBoolean("hide", false);
 		this.mountingRotation = node.getString("rotation");
@@ -54,5 +58,10 @@ public class TrackerConfig {
 		} else {
 			configNode.removeProperty("rotation");
 		}
+		if(description != null) {
+			configNode.setProperty("description", description);
+		} else {
+			configNode.removeProperty("description");
+		}
 	}
 }

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

@@ -0,0 +1,54 @@
+package io.eiren.vr.trackers;
+
+import java.util.EnumMap;
+import java.util.HashMap;
+import java.util.Map;
+
+public enum TrackerPosition {
+	
+	NONE("", TrackerRole.NONE),
+	HMD("HMD", TrackerRole.HMD),
+	CHEST("body:chest", TrackerRole.CHEST),
+	WAIST("body:waist", TrackerRole.WAIST),
+	LEFT_LEG("body:left_leg", TrackerRole.LEFT_KNEE),
+	RIGHT_LEG("body:right_leg", TrackerRole.RIGHT_KNEE),
+	LEFT_ANKLE("body:left_ankle", null),
+	RIGHT_ANKLE("body:right_ankle", null),
+	LEFT_FOOT("body:left_foot", TrackerRole.LEFT_FOOT),
+	RIGHT_FOOT("body:right_foot", TrackerRole.RIGHT_FOOT),
+	LEFT_CONTROLLER("body:left_controller", TrackerRole.LEFT_CONTROLLER),
+	RIGHT_CONTROLLER("body:right_conroller", TrackerRole.RIGHT_CONTROLLER),
+	;
+	
+	public final String designation;
+	public final TrackerRole trackerRole;
+	
+	public static final TrackerPosition[] values = values();
+	private static final Map<String, TrackerPosition> byDesignation = new HashMap<>();
+	private static final EnumMap<TrackerRole, TrackerPosition> byRole = new EnumMap<>(TrackerRole.class);
+	
+	private TrackerPosition(String designation, TrackerRole trackerRole) {
+		this.designation = designation;
+		this.trackerRole = trackerRole;
+	}
+	
+	public static TrackerPosition getByDesignation(String designation) {
+		return designation == null ? null : byDesignation.get(designation.toLowerCase());
+	}
+	
+	public static TrackerPosition getByRole(TrackerRole role) {
+		return byRole.get(role);
+	}
+	
+	static {
+		for(TrackerPosition tbp : values()) {
+			byDesignation.put(tbp.designation.toLowerCase(), tbp);
+			if(tbp.trackerRole != null) {
+				TrackerPosition old = byRole.get(tbp.trackerRole);
+				if(old != null)
+					throw new AssertionError("Only one tracker position can match tracker role. " + tbp.trackerRole + " is occupied by " + old + " when adding " + tbp);
+				byRole.put(tbp.trackerRole, tbp);
+			}
+		}
+	}
+}

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

@@ -0,0 +1,55 @@
+package io.eiren.vr.trackers;
+
+public enum TrackerRole {
+	
+	NONE(0, "", "", null),
+    WAIST(1, "vive_tracker_waist", "TrackerRole_Waist", DeviceType.TRACKER),
+    LEFT_FOOT(2, "vive_tracker_left_foot", "TrackerRole_LeftFoot", DeviceType.TRACKER),
+    RIGHT_FOOT(3, "vive_tracker_right_foot", "TrackerRole_RightFoot", DeviceType.TRACKER),
+    CHEST(4, "vive_tracker_chest", "TrackerRole_Chest", DeviceType.TRACKER),
+    LEFT_KNEE(5, "vive_tracker_left_knee", "TrackerRole_LeftKnee", DeviceType.TRACKER),
+    RIGHT_KNEE(6, "vive_tracker_right_knee", "TrackerRole_RightKnee", DeviceType.TRACKER),
+    LEFT_ELBOW(7, "vive_tracker_left_elbow", "TrackerRole_LeftElbow", DeviceType.TRACKER),
+    RIGHT_ELBOW(8, "vive_tracker_right_elbow", "TrackerRole_RightElbow", DeviceType.TRACKER),
+    LEFT_SHOULDER(9, "vive_tracker_left_shoulder", "TrackerRole_LeftShoulder", DeviceType.TRACKER),
+    RIGHT_SHOULDER(10, "vive_tracker_right_shoulder", "TrackerRole_RightShoulder", DeviceType.TRACKER),
+    LEFT_HAND(11, "vive_tracker_handed", "TrackerRole_Handed", DeviceType.TRACKER),
+    RIGHT_HAND(12, "vive_tracker_handed", "TrackerRole_Handed", DeviceType.TRACKER),
+    LEFT_CONTROLLER(13, "vive_tracker_handed", "TrackerRole_Handed", DeviceType.CONTROLLER),
+    RIGHT_CONTROLLER(14, "vive_tracker_handed", "TrackerRole_Handed", DeviceType.CONTROLLER),
+    HEAD(15, "", "", DeviceType.TRACKER),
+    NECK(16, "", "", DeviceType.TRACKER),
+    CAMERA(17, "vive_tracker_camera", "TrackerRole_Camera", DeviceType.TRACKER),
+    KEYBOARD(18, "vive_tracker_keyboard", "TrackerRole_Keyboard", DeviceType.TRACKER),
+    HMD(19, "", "", DeviceType.HMD),
+    BEACON(20, "", "", DeviceType.TRACKING_REFERENCE),
+    GENERIC_CONTROLLER(21, "vive_tracker_handed", "TrackerRole_Handed", DeviceType.CONTROLLER),
+    ;
+	
+	public final int id;
+	public final String roleHint;
+	public final String viveRole;
+	public final DeviceType deviceType;
+	
+	public static final TrackerRole[] values = values();
+	private static final TrackerRole[] byId = new TrackerRole[22];
+	
+	private TrackerRole(int id, String roleHint, String viveRole, DeviceType deviceType) {
+		this.id = id;
+		this.roleHint = roleHint;
+		this.viveRole = viveRole;
+		this.deviceType = deviceType;
+	}
+	
+	public static TrackerRole getById(int id) {
+		return id < 0 || id >= byId.length ? null : byId[id];
+	}
+	
+	static {
+		for(TrackerRole tr : values) {
+			if(byId[tr.id] != null)
+				throw new AssertionError("Tracker role id " + tr.id + " occupied by " + byId[tr.id] + " when adding " + tr);
+			byId[tr.id] = tr;
+		}
+	}
+}

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

@@ -2,14 +2,12 @@ package io.eiren.vr.trackers;
 
 import java.util.List;
 
-import io.eiren.vr.processor.TrackerBodyPosition;
-
 public class TrackerUtils {
 	
 	private TrackerUtils() {
 	}
 
-	public static <T extends Tracker> T findTrackerForBodyPosition(T[] allTrackers, TrackerBodyPosition position) {
+	public static <T extends Tracker> T findTrackerForBodyPosition(T[] allTrackers, TrackerPosition position) {
 		for(int i = 0; i < allTrackers.length; ++i) {
 			T t = allTrackers[i];
 			if(t != null && t.getBodyPosition() == position)
@@ -18,7 +16,7 @@ public class TrackerUtils {
 		return null;
 	}
 
-	public static <T extends Tracker> T findTrackerForBodyPosition(List<T> allTrackers, TrackerBodyPosition position) {
+	public static <T extends Tracker> T findTrackerForBodyPosition(List<T> allTrackers, TrackerPosition position) {
 		for(int i = 0; i < allTrackers.size(); ++i) {
 			T t = allTrackers.get(i);
 			if(t != null && t.getBodyPosition() == position)
@@ -27,37 +25,37 @@ public class TrackerUtils {
 		return null;
 	}
 
-	public static <T extends Tracker> T findTrackerForBodyPosition(List<T> allTrackers, TrackerBodyPosition position, TrackerBodyPosition altPosition) {
+	public static <T extends Tracker> T findTrackerForBodyPosition(List<T> allTrackers, TrackerPosition position, TrackerPosition altPosition) {
 		T t = findTrackerForBodyPosition(allTrackers, position);
 		if(t != null)
 			return t;
 		return findTrackerForBodyPosition(allTrackers, altPosition);
 	}
 
-	public static <T extends Tracker> T findTrackerForBodyPosition(T[] allTrackers, TrackerBodyPosition position, TrackerBodyPosition altPosition) {
+	public static <T extends Tracker> T findTrackerForBodyPosition(T[] allTrackers, TrackerPosition position, TrackerPosition altPosition) {
 		T t = findTrackerForBodyPosition(allTrackers, position);
 		if(t != null)
 			return t;
 		return findTrackerForBodyPosition(allTrackers, altPosition);
 	}
 
-	public static Tracker findTrackerForBodyPositionOrEmpty(List<? extends Tracker> allTrackers, TrackerBodyPosition position, TrackerBodyPosition altPosition) {
+	public static Tracker findTrackerForBodyPositionOrEmpty(List<? extends Tracker> allTrackers, TrackerPosition position, TrackerPosition altPosition) {
 		Tracker t = findTrackerForBodyPosition(allTrackers, position);
 		if(t != null)
 			return t;
 		t = findTrackerForBodyPosition(allTrackers, altPosition);
 		if(t != null)
 			return t;
-		return new ComputedTracker("Empty tracker", false, false);
+		return new ComputedTracker(Tracker.getNextLocalTrackerId(), "Empty tracker", false, false);
 	}
 
-	public static Tracker findTrackerForBodyPositionOrEmpty(Tracker[] allTrackers, TrackerBodyPosition position, TrackerBodyPosition altPosition) {
+	public static Tracker findTrackerForBodyPositionOrEmpty(Tracker[] allTrackers, TrackerPosition position, TrackerPosition altPosition) {
 		Tracker t = findTrackerForBodyPosition(allTrackers, position);
 		if(t != null)
 			return t;
 		t = findTrackerForBodyPosition(allTrackers, altPosition);
 		if(t != null)
 			return t;
-		return new ComputedTracker("Empty tracker", false, false);
+		return new ComputedTracker(Tracker.getNextLocalTrackerId(), "Empty tracker", false, false);
 	}
 }

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

@@ -10,6 +10,7 @@ import java.net.SocketTimeoutException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.HashMap;
+import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
 import java.util.Random;
@@ -103,7 +104,9 @@ public class TrackersUDPServer extends Thread {
 				firmware.append("owoTrack");
 				isOwo = true;
 			}
-			IMUTracker imu = new IMUTracker("udp:/" + handshakePacket.getAddress().toString(), this);
+			String trackerName = macString != null ? "udp://" + macString : "udp:/" + handshakePacket.getAddress().toString();
+			String descriptiveName = "udp:/" + handshakePacket.getAddress().toString();
+			IMUTracker imu = new IMUTracker(Tracker.getNextLocalTrackerId(), trackerName, descriptiveName, this);
 			ReferenceAdjustedTracker<IMUTracker> adjustedTracker = new ReferenceAdjustedTracker<>(imu);
 			trackersConsumer.accept(adjustedTracker);
 			sensor = new TrackerConnection(imu, handshakePacket.getSocketAddress());
@@ -114,16 +117,16 @@ public class TrackersUDPServer extends Thread {
 				trackers.add(sensor);
 				trackersMap.put(addr, sensor);
 			}
-			System.out.println("[TrackerServer] Sensor " + i + " added with address " + handshakePacket.getSocketAddress() + ". Board type: " + boardType + ", imu type: " + imuType + ", firmware: " + firmware + " (" + firmwareBuild + "), mac: " + macString);
+			System.out.println("[TrackerServer] Sensor " + i + " added with address " + handshakePacket.getSocketAddress() + ". Board type: " + boardType + ", imu type: " + imuType + ", firmware: " + firmware + " (" + firmwareBuild + "), mac: " + macString + ", name: " + trackerName);
 		}
-		sensor.tracker.setStatus(TrackerStatus.OK);
+		sensor.sensors.get(0).setStatus(TrackerStatus.OK);
         socket.send(new DatagramPacket(HANDSHAKE_BUFFER, HANDSHAKE_BUFFER.length, handshakePacket.getAddress(), handshakePacket.getPort()));
 	}
 	
-	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;
+	private void setUpAuxilarySensor(TrackerConnection connection, int trackerId) throws IOException {
+		System.out.println("[TrackerServer] Setting up auxilary sensor for " + connection.sensors.get(0).getName());
+		IMUTracker imu = new IMUTracker(Tracker.getNextLocalTrackerId(), connection.sensors.get(0).getName() + "/" + trackerId, connection.sensors.get(0).getDescriptiveName() + "/" + trackerId, this);
+		connection.sensors.put(trackerId, imu);
 		ReferenceAdjustedTracker<IMUTracker> adjustedTracker = new ReferenceAdjustedTracker<>(imu);
 		trackersConsumer.accept(adjustedTracker);
 		System.out.println("[TrackerServer] Sensor added with address " + imu.getName());
@@ -166,9 +169,9 @@ public class TrackersUDPServer extends Thread {
 						buf.set(bb.getFloat(), bb.getFloat(), bb.getFloat(), bb.getFloat());
 						offset.mult(buf, buf);
 						if(packetId == 1) {
-							tracker = connection.tracker;
+							tracker = connection.sensors.get(0);
 						} else {
-							tracker = connection.secondTracker;
+							tracker = connection.sensors.get(1);
 						}
 						if(tracker == null)
 							break;
@@ -182,11 +185,7 @@ public class TrackersUDPServer extends Thread {
 							break;
 						bb.getLong();
 						int sensorId = bb.get() & 0xFF;
-						if(sensorId == 0) {
-							tracker = connection.tracker;
-						} else if(sensorId == 1) {
-							tracker = connection.secondTracker;
-						}
+						tracker = connection.sensors.get(sensorId);
 						if(tracker == null)
 							break;
 						
@@ -215,11 +214,7 @@ public class TrackersUDPServer extends Thread {
 							break;
 						bb.getLong();
 						sensorId = bb.get() & 0xFF;
-						if(sensorId == 0) {
-							tracker = connection.tracker;
-						} else if(sensorId == 1) {
-							tracker = connection.secondTracker;
-						}
+						tracker = connection.sensors.get(sensorId);
 						if(tracker == null)
 							break;
 						float accuracyInfo = bb.getFloat();
@@ -230,7 +225,7 @@ public class TrackersUDPServer extends Thread {
 						if(connection == null)
 							break;
 						bb.getLong();
-						connection.tracker.gyroVector.set(bb.getFloat(), bb.getFloat(), bb.getFloat());
+						connection.sensors.get(0).gyroVector.set(bb.getFloat(), bb.getFloat(), bb.getFloat());
 						break;
 					case 4:
 						if(connection == null)
@@ -239,7 +234,7 @@ public class TrackersUDPServer extends Thread {
 						float x = bb.getFloat();
 						float z = bb.getFloat();
 						float y = bb.getFloat();
-						connection.tracker.accelVector.set(x, y, z);
+						connection.sensors.get(0).accelVector.set(x, y, z);
 						break;
 					case 5:
 						if(connection == null)
@@ -250,23 +245,7 @@ public class TrackersUDPServer extends Thread {
 						x = bb.getFloat();
 						z = bb.getFloat();
 						y = bb.getFloat();
-						connection.tracker.magVector.set(x, y, z);
-						break;
-					case 6: // PACKET_RAW_CALIBRATION_DATA
-						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(connection == null)
-							break;
-						if(connection.isOwoTrack)
-							break;
-						bb.getLong();
-						//sensor.gyroCalibrationData = new double[] {bb.getFloat(), bb.getFloat(), bb.getFloat()};
+						connection.sensors.get(0).magVector.set(x, y, z);
 						break;
 					case 8: // PACKET_CONFIG
 						if(connection == null)
@@ -275,7 +254,7 @@ public class TrackersUDPServer extends Thread {
 							break;
 						bb.getLong();
 						MPUTracker.ConfigurationData data = new MPUTracker.ConfigurationData(bb);
-						Consumer<String> dataConsumer = calibrationDataRequests.remove(connection.tracker);
+						Consumer<String> dataConsumer = calibrationDataRequests.remove(connection.sensors.get(0));
 						if(dataConsumer != null) {
 							dataConsumer.accept(data.toTextMatrix());
 						}
@@ -289,7 +268,7 @@ public class TrackersUDPServer extends Thread {
 						float mx = bb.getFloat();
 						float my = bb.getFloat();
 						float mz = bb.getFloat();
-						connection.tracker.confidence = (float) Math.sqrt(mx * mx + my * my + mz * mz);
+						connection.sensors.get(0).confidence = (float) Math.sqrt(mx * mx + my * my + mz * mz);
 						break;
 					case 10: // PACKET_PING_PONG:
 						if(connection == null)
@@ -298,7 +277,7 @@ public class TrackersUDPServer extends Thread {
 							break;
 						int pingId = bb.getInt();
 						if(connection.lastPingPacketId == pingId) {
-							tracker = connection.tracker;
+							tracker = connection.sensors.get(0);
 							tracker.ping = (int) (System.currentTimeMillis() - connection.lastPingPacketTime) / 2;
 						}
 						break;
@@ -307,7 +286,7 @@ public class TrackersUDPServer extends Thread {
 							break;
 						if(connection.isOwoTrack)
 							break;
-						tracker = connection.tracker;
+						tracker = connection.sensors.get(0);
 						bb.getLong();
 						int length = bb.getInt();
 						for(int i = 0; i < length; ++i) {
@@ -325,7 +304,7 @@ public class TrackersUDPServer extends Thread {
 					case 12: // PACKET_BATTERY_VOLTAGE
 						if(connection == null)
 							break;
-						tracker = connection.tracker;
+						tracker = connection.sensors.get(0);
 						bb.getLong();
 						tracker.setBatteryVoltage(bb.getFloat());
 						break;
@@ -334,14 +313,11 @@ public class TrackersUDPServer extends Thread {
 							break;
 						if(connection.isOwoTrack)
 							break;
-						tracker = connection.tracker;
 						bb.getLong();
 						sensorId = bb.get() & 0xFF;
-						if(sensorId == 0) {
-							tracker = connection.tracker;
-						} else if(sensorId == 1) {
-							tracker = connection.secondTracker;
-						}
+						tracker = connection.sensors.get(sensorId);
+						if(tracker == null)
+							break;
 						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) + ")");
@@ -352,7 +328,7 @@ public class TrackersUDPServer extends Thread {
 						System.out.println("[TrackerServer] Reset recieved from " + recieve.getSocketAddress() + ": " + reason);
 						if(connection == null)
 							break;
-						tracker = connection.tracker;
+						tracker = connection.sensors.get(0);
 						tracker.setStatus(TrackerStatus.ERROR);
 						break;
 					case 15: // PACKET_SENSOR_INFO
@@ -361,15 +337,15 @@ public class TrackersUDPServer extends Thread {
 						bb.getLong();
 						sensorId = bb.get() & 0xFF;
 						int sensorStatus = bb.get() & 0xFF;
-						if(sensorId == 1 && sensorStatus == 1 && connection.secondTracker == null) {
-							setUpAuxilarySensor(connection);
+						if(sensorId > 0 && sensorStatus == 1 && !connection.sensors.containsKey(sensorId)) {
+							setUpAuxilarySensor(connection, sensorId);
 						}
 						bb.rewind();
 						bb.putInt(15);
 						bb.put((byte) sensorId);
 						bb.put((byte) sensorStatus);
 						socket.send(new DatagramPacket(rcvBuffer, bb.position(), connection.address));
-						System.out.println("[TrackerServer] Sensor info for " + connection.tracker.getName() + "/" + sensorId + ": " + sensorStatus);
+						System.out.println("[TrackerServer] Sensor info for " + connection.sensors.get(0).getName() + "/" + sensorId + ": " + sensorStatus);
 						break;
 					default:
 						System.out.println("[TrackerServer] Unknown data received: " + packetId + " from " + recieve.getSocketAddress());
@@ -384,18 +360,20 @@ public class TrackersUDPServer extends Thread {
 					synchronized(trackers) {
 						for(int i = 0; i < trackers.size(); ++i) {
 							TrackerConnection conn = trackers.get(i);
-							IMUTracker tracker = conn.tracker;
+							IMUTracker tracker = conn.sensors.get(0);
 							socket.send(new DatagramPacket(KEEPUP_BUFFER, KEEPUP_BUFFER.length, conn.address));
 							if(conn.lastPacket + 1000 < System.currentTimeMillis()) {
 								if(tracker.getStatus() != TrackerStatus.DISCONNECTED) {
 									tracker.setStatus(TrackerStatus.DISCONNECTED);
-									if(conn.secondTracker != null)
-										conn.secondTracker.setStatus(TrackerStatus.DISCONNECTED);
+									Iterator<IMUTracker> iterator = conn.sensors.values().iterator();
+									while(iterator.hasNext())
+										iterator.next().setStatus(TrackerStatus.DISCONNECTED);
 								}
 							} else if(tracker.getStatus() != TrackerStatus.ERROR && tracker.getStatus() != TrackerStatus.BUSY) {
 								tracker.setStatus(TrackerStatus.OK);
-								if(conn.secondTracker != null)
-									conn.secondTracker.setStatus(TrackerStatus.OK);
+								Iterator<IMUTracker> iterator = conn.sensors.values().iterator();
+								while(iterator.hasNext())
+									iterator.next().setStatus(TrackerStatus.OK);
 							}
 							if(tracker.serialBuffer.length() > 0) {
 								if(tracker.lastSerialUpdate + 500L < System.currentTimeMillis()) {
@@ -426,8 +404,7 @@ public class TrackersUDPServer extends Thread {
 	
 	private class TrackerConnection {
 		
-		IMUTracker tracker;
-		IMUTracker secondTracker;
+		Map<Integer, IMUTracker> sensors = new HashMap<>();
 		SocketAddress address;
 		public long lastPacket = System.currentTimeMillis();
 		public int lastPingPacketId = -1;
@@ -435,7 +412,7 @@ public class TrackersUDPServer extends Thread {
 		public boolean isOwoTrack = false;
 		
 		public TrackerConnection(IMUTracker tracker, SocketAddress address) {
-			this.tracker = tracker;
+			this.sensors.put(0, tracker);
 			this.address = address;
 		}
 	}

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

@@ -2,14 +2,16 @@ package io.eiren.vr.trackers;
 
 import io.eiren.util.BufferedTimer;
 
-public class SteamVRTracker extends ComputedTracker implements TrackerWithTPS {
+public class VRTracker extends ComputedTracker {
 
-	public final int id;
 	protected BufferedTimer timer = new BufferedTimer(1f);
 	
-	public SteamVRTracker(int id, String name, boolean hasRotation, boolean hasPosition) {
-		super(name, hasRotation, hasPosition);
-		this.id = id;
+	public VRTracker(int id, String serial, String name, boolean hasRotation, boolean hasPosition) {
+		super(id, serial, name, hasRotation, hasPosition);
+	}
+	
+	public VRTracker(int id, String name, boolean hasRotation, boolean hasPosition) {
+		super(id, name, name, hasRotation, hasPosition);
 	}
 	
 	@Override

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

@@ -8,6 +8,7 @@ import io.eiren.util.StringUtils;
 import io.eiren.vr.processor.TransformNode;
 import io.eiren.vr.trackers.ComputedTracker;
 import io.eiren.vr.trackers.ReferenceAdjustedTracker;
+import io.eiren.vr.trackers.Tracker;
 
 import static org.junit.jupiter.api.Assertions.*;
 import static org.junit.jupiter.api.DynamicTest.dynamicTest;
@@ -67,7 +68,7 @@ public class ReferenceAdjustmentsTests {
 	
 	public void checkReferenceAdjustmentFull(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
 		Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
-		ComputedTracker tracker = new ComputedTracker("test", true, false);
+		ComputedTracker tracker = new ComputedTracker(Tracker.getNextLocalTrackerId(), "test", true, false);
 		tracker.rotation.set(trackerQuat);
 		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
 		adj.resetFull(referenceQuat);
@@ -86,7 +87,7 @@ public class ReferenceAdjustmentsTests {
 	
 	public void checkReferenceAdjustmentYaw(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
 		Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
-		ComputedTracker tracker = new ComputedTracker("test", true, false);
+		ComputedTracker tracker = new ComputedTracker(Tracker.getNextLocalTrackerId(), "test", true, false);
 		tracker.rotation.set(trackerQuat);
 		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
 		adj.resetYaw(referenceQuat);
@@ -98,7 +99,7 @@ public class ReferenceAdjustmentsTests {
 	
 	private void testAdjustedTrackerRotation(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
 		Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
-		ComputedTracker tracker = new ComputedTracker("test", true, false);
+		ComputedTracker tracker = new ComputedTracker(Tracker.getNextLocalTrackerId(), "test", true, false);
 		tracker.rotation.set(trackerQuat);
 		ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker);
 		adj.resetFull(referenceQuat);