Rework legs proportions to legs length and knee height

Add Slime Java Commons to Gradle build and create a GitHub Actions workflow

.github/workflows/gradle.yml

@@ -0,0 +1,48 @@
+# This workflow will build a Java project with Gradle
+# For more information see: https://help.github.com/actions/language-and-framework-guides/building-and-testing-java-with-gradle
+
+name: Build SlimeVR Server with Gradle
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2.3.4
+    
+    - name: Clone Slime Java Commons
+      uses: actions/checkout@v2.3.4
+      with:
+        repository: Eirenliel/slime-java-commons
+        # Relative path under $GITHUB_WORKSPACE to place the repository
+        path: Slime Java Commons
+    
+    - name: Set up JDK 11
+      uses: actions/setup-java@v2.1.0
+      with:
+        java-version: '11'
+        distribution: 'adopt'
+        
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+      
+    - name: Test with Gradle
+      run: ./gradlew clean test
+      
+    - name: Build with Gradle
+      run: ./gradlew clean serverJar
+      
+    - name: Upload the Server JAR as a Build Artifact
+      uses: actions/upload-artifact@v2.2.4
+      with:
+        # Artifact name
+        name: "SlimeVR-Server" # optional, default is artifact
+        # A file, directory or wildcard pattern that describes what to upload
+        path: build/libs/*

build.gradle

@@ -19,6 +19,8 @@ repositories {
 }
 
 dependencies {
+	compile project(':Slime Java Commons')
+
     // This dependency is exported to consumers, that is to say found on their compile classpath.
     api 'org.apache.commons:commons-math3:3.6.1'
     api 'org.yaml:snakeyaml:1.25'
@@ -33,3 +35,15 @@ dependencies {
     // Use JUnit test framework
     testImplementation 'junit:junit:4.12'
 }
+
+subprojects.each { subproject -> evaluationDependsOn(subproject.path) }
+task serverJar (type: Jar, dependsOn: subprojects.tasks['build']) {
+    manifest {
+        attributes 'Main-Class': 'io.eiren.vr.Main'
+    }
+    
+    from {
+        configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
+    }
+    with jar
+}

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

@@ -0,0 +1,42 @@
+package io.eiren.gui;
+
+import java.util.Timer;
+import java.util.TimerTask;
+
+import javax.swing.AbstractButton;
+
+public class ButtonTimer {
+
+	private static Timer timer = new Timer();
+	
+	public static void runTimer(AbstractButton button, int seconds, String defaultText, Runnable runnable) {
+		if(seconds <= 0) {
+			button.setText(defaultText);
+			runnable.run();
+		} else {
+			button.setText(String.valueOf(seconds));
+			timer.schedule(new ButtonTimerTask(button, seconds - 1, defaultText, runnable), 1000);
+		}
+	}
+	
+	private static class ButtonTimerTask extends TimerTask {
+		
+		private final AbstractButton button;
+		private final int seconds;
+		private final String defaultText;
+		private final Runnable runnable;
+		
+		private ButtonTimerTask(AbstractButton button, int seconds, String defaultText, Runnable runnable) {
+			this.button = button;
+			this.seconds = seconds;
+			this.defaultText = defaultText;
+			this.runnable = runnable;
+		}
+
+		@Override
+		public void run() {
+			runTimer(button, seconds, defaultText, runnable);
+		}
+		
+	}
+}

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

@@ -0,0 +1,91 @@
+package io.eiren.gui;
+
+import java.awt.Font;
+import java.text.AttributedCharacterIterator.Attribute;
+import java.util.Map;
+
+public class ScalableFont extends Font {
+	
+	protected float scale = 1.0f;
+	
+	protected int initSize;
+	protected float initPointSize;
+	
+	public ScalableFont(Map<? extends Attribute, ?> attributes) {
+		super(attributes);
+		
+		this.initSize = this.size;
+		this.initPointSize = this.pointSize;
+	}
+	
+	public ScalableFont(Font font) {
+		super(font);
+		
+		if(font instanceof ScalableFont) {
+			ScalableFont sourceFont = (ScalableFont)font;
+			
+			this.initSize = sourceFont.getInitSize();
+			this.initPointSize = sourceFont.getInitSize2D();
+			
+			this.size = this.initSize;
+			this.pointSize = this.initPointSize;
+		} else {
+			this.initSize = this.size;
+			this.initPointSize = this.pointSize;
+		}
+	}
+	
+	public ScalableFont(Font font, float scale) {
+		super(font);
+		
+		if(font instanceof ScalableFont) {
+			ScalableFont sourceFont = (ScalableFont)font;
+			
+			this.initSize = sourceFont.getInitSize();
+			this.initPointSize = sourceFont.getInitSize2D();
+		} else {
+			this.initSize = this.size;
+			this.initPointSize = this.pointSize;
+		}
+		
+		setScale(scale);
+	}
+	
+	public ScalableFont(String name, int style, int size) {
+		super(name, style, size);
+		
+		this.initSize = this.size;
+		this.initPointSize = this.pointSize;
+	}
+	
+	public ScalableFont(String name, int style, int size, float scale) {
+		super(name, style, size);
+		
+		this.initSize = this.size;
+		this.initPointSize = this.pointSize;
+		
+		setScale(scale);
+	}
+	
+	public int getInitSize() {
+		return initSize;
+	}
+	
+	public float getInitSize2D() {
+		return initPointSize;
+	}
+	
+	public float getScale() {
+		return scale;
+	}
+	
+	private void setScale(float scale) {
+		this.scale = scale;
+		
+		float newPointSize = initPointSize * scale;
+		
+		this.size = (int)(newPointSize + 0.5);
+		this.pointSize = newPointSize;
+	}
+	
+}

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

@@ -34,53 +34,71 @@ public class SkeletonConfig extends EJBag {
 			removeAll();
 			
 			int row = 0;
-
+			
+			add(new TimedResetButton("Reset All", "All"), s(c(1, row, 1), 3, 1));
+			row++;
+			
 			add(new JLabel("Chest"), c(0, row, 1));
 			add(new AdjButton("+", "Chest", 0.01f), c(1, row, 1));
 			add(new SkeletonLabel("Chest"), c(2, row, 1));
 			add(new AdjButton("-", "Chest", -0.01f), c(3, row, 1));
+			add(new ResetButton("Reset", "Chest"), c(4, row, 1));
 			row++;
 			
 			add(new JLabel("Waist"), c(0, row, 1));
 			add(new AdjButton("+", "Waist", 0.01f), c(1, row, 1));
 			add(new SkeletonLabel("Waist"), c(2, row, 1));
 			add(new AdjButton("-", "Waist", -0.01f), c(3, row, 1));
-			row++;
-			
-			add(new JLabel("Virtual waist"), c(0, row, 1));
-			add(new AdjButton("+", "Virtual waist", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Virtual waist"), c(2, row, 1));
-			add(new AdjButton("-", "Virtual waist", -0.01f), c(3, row, 1));
+			add(new TimedResetButton("Reset", "Waist"), c(4, row, 1));
 			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));
 			row++;
 
-			add(new JLabel("Hip length"), c(0, row, 1));
-			add(new AdjButton("+", "Hip length", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Hip length"), c(2, row, 1));
-			add(new AdjButton("-", "Hip length", -0.01f), c(3, row, 1));
+			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));
 			row++;
 
-			add(new JLabel("Ankle length"), c(0, row, 1));
-			add(new AdjButton("+", "Ankle length", 0.01f), c(1, row, 1));
-			add(new SkeletonLabel("Ankle length"), c(2, row, 1));
-			add(new AdjButton("-", "Ankle length", -0.01f), c(3, row, 1));
+			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));
+			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));
 			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));
 			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));
+			row++;
+			
+			add(new JLabel("Virtual waist"), c(0, row, 1));
+			add(new AdjButton("+", "Virtual waist", 0.01f), c(1, row, 1));
+			add(new SkeletonLabel("Virtual waist"), c(2, row, 1));
+			add(new AdjButton("-", "Virtual waist", -0.01f), c(3, row, 1));
+			add(new ResetButton("Reset", "Virtual waist"), c(4, row, 1));
 			row++;
 			
 			gui.refresh();
@@ -91,13 +109,27 @@ public class SkeletonConfig extends EJBag {
 		float current = server.humanPoseProcessor.getSkeletonConfig(joint);
 		server.humanPoseProcessor.setSkeletonConfig(joint, current + diff);
 		server.saveConfig();
-		labels.get(joint).setText(StringUtils.prettyNumber(current + diff, 2));
+		labels.get(joint).setText(StringUtils.prettyNumber((current + diff) * 100, 0));
+	}
+	
+	private void reset(String joint) {
+		server.humanPoseProcessor.resetSkeletonConfig(joint);
+		server.saveConfig();
+		if(!"All".equals(joint)) {
+			float current = server.humanPoseProcessor.getSkeletonConfig(joint);
+			labels.get(joint).setText(StringUtils.prettyNumber((current) * 100, 0));
+		} else {
+			labels.forEach((jnt, label) -> {
+				float current = server.humanPoseProcessor.getSkeletonConfig(jnt);
+				label.setText(StringUtils.prettyNumber((current) * 100, 0));
+			});
+		}
 	}
 	
 	private class SkeletonLabel extends JLabel {
 		
 		public SkeletonLabel(String joint) {
-			super(StringUtils.prettyNumber(server.humanPoseProcessor.getSkeletonConfig(joint), 2));
+			super(StringUtils.prettyNumber(server.humanPoseProcessor.getSkeletonConfig(joint) * 100, 0));
 			labels.put(joint, this);
 		}
 	}
@@ -114,4 +146,30 @@ public class SkeletonConfig extends EJBag {
 			});
 		}
 	}
+	
+	private class ResetButton extends JButton {
+		
+		public ResetButton(String text, String joint) {
+			super(text);
+			addMouseListener(new MouseInputAdapter() {
+				@Override
+				public void mouseClicked(MouseEvent e) {
+					reset(joint);
+				}
+			});
+		}
+	}
+	
+	private class TimedResetButton extends JButton {
+		
+		public TimedResetButton(String text, String joint) {
+			super(text);
+			addMouseListener(new MouseInputAdapter() {
+				@Override
+				public void mouseClicked(MouseEvent e) {
+					ButtonTimer.runTimer(TimedResetButton.this, 3, text, () -> reset(joint));
+				}
+			});
+		}
+	}
 }

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

@@ -11,7 +11,6 @@ import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JComboBox;
 import javax.swing.JLabel;
-import javax.swing.border.BevelBorder;
 
 import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
@@ -20,7 +19,6 @@ import com.jme3.math.Vector3f;
 import io.eiren.util.StringUtils;
 import io.eiren.util.ann.AWTThread;
 import io.eiren.util.ann.ThreadSafe;
-import io.eiren.util.ann.VRServerThread;
 import io.eiren.util.collections.FastList;
 import io.eiren.vr.VRServer;
 import io.eiren.vr.processor.TrackerBodyPosition;

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

@@ -4,12 +4,15 @@ import javax.swing.*;
 import javax.swing.border.EmptyBorder;
 import javax.swing.event.MouseInputAdapter;
 
+import io.eiren.util.StringUtils;
 import io.eiren.util.ann.AWTThread;
 import io.eiren.vr.VRServer;
+import io.eiren.vr.bridge.NamedPipeVRBridge;
 
+import java.awt.Component;
 import java.awt.Container;
+import java.awt.Font;
 import java.awt.event.MouseEvent;
-import java.util.TimerTask;
 
 import static javax.swing.BoxLayout.PAGE_AXIS;
 import static javax.swing.BoxLayout.LINE_AXIS;
@@ -19,24 +22,40 @@ public class VRServerGUI extends JFrame {
 	public final VRServer server;
 	private final TrackersList trackersList;
 	private final SkeletonList skeletonList;
-	private java.util.Timer timer = new java.util.Timer();
 	private JButton resetButton;
+	private JScrollPane scroll;
+	private EJBox pane;
+	
+	private float zoom = 1.5f;
+	private float initZoom = zoom;
 	
 	@AWTThread
 	public VRServerGUI(VRServer server) {
 		super("SlimeVR Server");
-		increaseFontSize();
+		//increaseFontSize();
 		
 		this.server = server;
+		
+		this.zoom = server.config.getFloat("zoom", zoom);
+		this.initZoom = zoom;
+		setDefaultFontSize(zoom);
+		// All components should be constructed to the current zoom level by default
+		
 		setDefaultCloseOperation(EXIT_ON_CLOSE);
 		getContentPane().setLayout(new BoxLayout(getContentPane(), PAGE_AXIS));
 		
 		this.trackersList = new TrackersList(server, this);
 		this.skeletonList = new SkeletonList(server, this);
 		
+		add(scroll = new JScrollPane(pane = new EJBox(PAGE_AXIS), ScrollPaneConstants.VERTICAL_SCROLLBAR_AS_NEEDED, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED));
+		
 		build();
 	}
 	
+	public float getZoom() {
+		return this.zoom;
+	}
+	
 	public void refresh() {
 		// Pack and display
 		pack();
@@ -52,12 +71,14 @@ public class VRServerGUI extends JFrame {
 	
 	@AWTThread
 	private void build() {
-		Container pane = getContentPane();
-		
 		pane.removeAll();
 		
+		NamedPipeVRBridge npvb = server.getVRBridge(NamedPipeVRBridge.class);
+		
 		pane.add(new EJBox(LINE_AXIS) {{
 			setBorder(new EmptyBorder(i(5)));
+			
+			add(Box.createHorizontalGlue());
 			add(resetButton = new JButton("RESET") {{
 				addMouseListener(new MouseInputAdapter() {
 					@Override
@@ -66,6 +87,29 @@ public class VRServerGUI extends JFrame {
 					}
 				});
 			}});
+			add(Box.createHorizontalGlue());
+			if(npvb != null) {
+				add(new JButton(npvb.isOneTrackerMode() ? "Trackers: 1" : "Trackers: 3") {{
+					addMouseListener(new MouseInputAdapter() {
+						@Override
+						public void mouseClicked(MouseEvent e) {
+							npvb.setSpawnOneTracker(!npvb.isOneTrackerMode());
+							setText(npvb.isOneTrackerMode() ? "Trackers: 1" : "Trackers: 3");
+						}
+					});
+				}});
+				add(Box.createHorizontalStrut(10));
+			}
+			add(new JButton("GUI Zoom (x" + StringUtils.prettyNumber(zoom, 2) + ")") {{
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						guiZoom();
+						setText("GUI Zoom (x" + StringUtils.prettyNumber(zoom, 2) + ")");
+					}
+				});
+			}});
+			add(Box.createHorizontalStrut(10));
 		}});
 		
 		pane.add(new EJBox(LINE_AXIS) {{
@@ -80,10 +124,10 @@ public class VRServerGUI extends JFrame {
 
 			add(new EJBox(PAGE_AXIS) {{
 				setAlignmentY(TOP_ALIGNMENT);
-				add(new JLabel("Skeleton"));
-				add(skeletonList);
-				add(new JLabel("Skeleton config"));
+				add(new JLabel("Body proportions"));
 				add(new SkeletonConfig(server, VRServerGUI.this));
+				add(new JLabel("Skeleton data"));
+				add(skeletonList);
 				add(Box.createVerticalGlue());
 			}});
 		}});
@@ -95,14 +139,45 @@ public class VRServerGUI extends JFrame {
 		server.addOnTick(skeletonList::updateBones);
 	}
 	
-	private static void increaseFontSize() {
+	// For now only changes font size, but should change fixed components size in the future too
+	private void guiZoom() {
+		if(zoom <= 1.0f) {
+			zoom = 1.5f;
+		} else if(zoom <= 1.5f) {
+			zoom = 1.75f;
+		} else if(zoom <= 1.75f) {
+			zoom = 2.0f;
+		} else if(zoom <= 2.0f) {
+			zoom = 2.5f;
+		} else {
+			zoom = 1.0f;
+		}
+		processNewZoom(zoom / initZoom, pane);
+		refresh();
+		server.config.setProperty("zoom", zoom);
+		server.saveConfig();
+	}
+	
+	private static void processNewZoom(float zoom, Component comp) {
+		if(comp.isFontSet()) {
+			Font newFont = new ScalableFont(comp.getFont(), zoom);
+			comp.setFont(newFont);
+		}
+		if(comp instanceof Container) {
+			Container cont = (Container) comp;
+			for(Component child : cont.getComponents())
+				processNewZoom(zoom, child);
+		}
+	}
+	
+	private static void setDefaultFontSize(float zoom) {
 		java.util.Enumeration<Object> keys = UIManager.getDefaults().keys();
 		while(keys.hasMoreElements()) {
 			Object key = keys.nextElement();
 			Object value = UIManager.get(key);
 			if(value instanceof javax.swing.plaf.FontUIResource) {
 				javax.swing.plaf.FontUIResource f = (javax.swing.plaf.FontUIResource) value;
-				javax.swing.plaf.FontUIResource f2 = new javax.swing.plaf.FontUIResource(f.deriveFont(f.getSize() * 2f));
+				javax.swing.plaf.FontUIResource f2 = new javax.swing.plaf.FontUIResource(f.deriveFont(f.getSize() * zoom));
 				UIManager.put(key, f2);
 			}
 		}
@@ -110,37 +185,6 @@ public class VRServerGUI extends JFrame {
 	
 	@AWTThread
 	private void reset() {
-		resetButton.setText("5");
-		timer.schedule(new TimerTask() {
-			@Override
-			public void run() {
-				resetButton.setText("4");
-				timer.schedule(new TimerTask() {
-					@Override
-					public void run() {
-						resetButton.setText("3");
-						timer.schedule(new TimerTask() {
-							@Override
-							public void run() {
-								resetButton.setText("2");
-								timer.schedule(new TimerTask() {
-									@Override
-									public void run() {
-										resetButton.setText("1");
-										timer.schedule(new TimerTask() {
-											@Override
-											public void run() {
-												server.resetTrackers();
-												resetButton.setText("RESET");
-											}
-										}, 1000);
-									}
-								}, 1000);
-							}
-						}, 1000);
-					}
-				}, 1000);
-			}
-		}, 1000);
+		ButtonTimer.runTimer(resetButton, 3, "RESET", server::resetTrackers);
 	}
 }

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

@@ -46,6 +46,7 @@ public class VRServer extends Thread {
 	
 	public VRServer() {
 		super("VRServer");
+		loadConfig();
 		hmdTracker = new HMDTracker("HMD");
 		hmdTracker.position.set(0, 1.8f, 0); // Set starting position for easier debugging
 		// TODO Multiple processors
@@ -53,7 +54,7 @@ public class VRServer extends Thread {
 		List<? extends Tracker> shareTrackers = humanPoseProcessor.getComputedTrackers();
 		
 		// Create named pipe bridge for SteamVR driver
-		NamedPipeVRBridge driverBridge = new NamedPipeVRBridge(hmdTracker, shareTrackers);
+		NamedPipeVRBridge driverBridge = new NamedPipeVRBridge(hmdTracker, shareTrackers, this);
 		tasks.add(() -> driverBridge.start());
 		bridges.add(driverBridge);
 		
@@ -71,6 +72,16 @@ public class VRServer extends Thread {
 		for(int i = 0; i < shareTrackers.size(); ++i)
 			registerTracker(shareTrackers.get(i));
 	}
+
+	@ThreadSafe
+	public <E extends VRBridge> E getVRBridge(Class<E> cls) {
+		for(int i = 0; i < bridges.size(); ++i) {
+			VRBridge b = bridges.get(i);
+			if(cls.isInstance(b))
+				return cls.cast(b);
+		}
+		return null;
+	}
 	
 	@ThreadSafe
 	public TrackerConfig getTrackerConfig(Tracker tracker) {
@@ -169,7 +180,6 @@ public class VRServer extends Thread {
 	@Override
 	@VRServerThread
 	public void run() {
-		loadConfig();
 		trackersServer.start();
 		while(true) {
 			//final long start = System.currentTimeMillis();

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

@@ -14,6 +14,7 @@ import com.sun.jna.ptr.IntByReference;
 
 import io.eiren.util.collections.FastList;
 import io.eiren.util.logging.LogManager;
+import io.eiren.vr.VRServer;
 import io.eiren.vr.trackers.ComputedTracker;
 import io.eiren.vr.trackers.HMDTracker;
 import io.eiren.vr.trackers.Tracker;
@@ -32,6 +33,7 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 	private final Quaternion qBuffer = new Quaternion();
 	private final Quaternion qBuffer2 = new Quaternion();
 	
+	private final VRServer server;
 	private Pipe hmdPipe;
 	private final HMDTracker hmd;
 	private final List<Pipe> trackerPipes;
@@ -41,8 +43,11 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 	private final HMDTracker internalHMDTracker = new HMDTracker("itnernal://HMD");
 	private final AtomicBoolean newHMDData = new AtomicBoolean(false);
 	
-	public NamedPipeVRBridge(HMDTracker hmd, List<? extends Tracker> shareTrackers) {
+	private boolean spawnOneTracker = false;
+	
+	public NamedPipeVRBridge(HMDTracker hmd, List<? extends Tracker> shareTrackers, VRServer server) {
 		super("Named Pipe VR Bridge");
+		this.server = server;
 		this.hmd = hmd;
 		this.shareTrackers = new FastList<>(shareTrackers);
 		this.trackerPipes = new FastList<>(shareTrackers.size());
@@ -53,6 +58,26 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 			ct.setStatus(TrackerStatus.OK);
 			this.internalTrackers.add(ct);
 		}
+		this.spawnOneTracker = server.config.getBoolean("openvr.onetracker", spawnOneTracker);
+	}
+	
+	public boolean isOneTrackerMode() {
+		return this.spawnOneTracker;
+	}
+	
+	/**
+	 * Makes OpenVR bridge spawn only 1 tracker instead of 3, for
+	 * use with only waist/chest tracking. Requires restart.
+	 */
+	public void setSpawnOneTracker(boolean spawnOneTracker) {
+		if(spawnOneTracker == this.spawnOneTracker)
+			return;
+		this.spawnOneTracker = spawnOneTracker;
+		if(this.spawnOneTracker)
+			this.server.config.setProperty("openvr.onetracker", true);
+		else
+			this.server.config.removeProperty("openvr.onetracker");
+		this.server.saveConfig();
 	}
 	
 	@Override
@@ -108,6 +133,8 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 				if(tryOpeningPipe(trackerPipe))
 					initTrackerPipe(trackerPipe, i);
 			}
+			if(spawnOneTracker)
+				break;
 		}
 	}
 	
@@ -167,7 +194,7 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 	}
 	
 	private void initTrackerPipe(Pipe pipe, int trackerId) {
-		String trackerHello = this.shareTrackers.size() + " 0";
+		String trackerHello = (spawnOneTracker ? "1" : this.shareTrackers.size()) + " 0";
 		System.arraycopy(trackerHello.getBytes(ASCII), 0, buffer, 0, trackerHello.length());
 		buffer[trackerHello.length()] = '\0';
 		IntByReference lpNumberOfBytesWritten = new IntByReference(0);
@@ -225,6 +252,8 @@ public class NamedPipeVRBridge extends Thread implements VRBridge {
 					throw new IOException("Can't open " + pipeName + " pipe: " + Kernel32.INSTANCE.GetLastError());
 				LogManager.log.info("[VRBridge] Pipe " + pipeName + " created");
 				trackerPipes.add(new Pipe(pipeHandle, pipeName));
+				if(spawnOneTracker)
+					break;
 			}
 			LogManager.log.info("[VRBridge] Pipes are open");
 		} catch(IOException e) {

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

@@ -38,6 +38,12 @@ public class HumanPoseProcessor {
 		if(skeleton != null)
 			skeleton.setSkeletonConfig(key, newLength);
 	}
+
+	@ThreadSafe
+	public void resetSkeletonConfig(String key) {
+		if(skeleton != null)
+			skeleton.resetSkeletonConfig(key);
+	}
 	
 	@ThreadSafe
 	public float getSkeletonConfig(String key) {

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

@@ -4,6 +4,7 @@ import java.util.List;
 
 import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
 
 import io.eiren.util.ann.VRServerThread;
 import io.eiren.vr.VRServer;
@@ -13,6 +14,10 @@ import io.eiren.vr.trackers.TrackerUtils;
 
 public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 	
+	public static final float HIPS_WIDTH_DEFAULT = 0.3f;
+	public static final float FOOT_LENGTH_DEFAULT = 0.05f;
+	public static final float DEFAULT_FLOOR_OFFSET = 0.05f;
+	
 	protected final float[] kneeAngles = new float[3];
 	protected final float[] hipAngles = new float[3];
 	protected final Quaternion hipBuf = new Quaternion();
@@ -39,15 +44,16 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 	/**
 	 * Distance between centers of both hips
 	 */
-	protected float hipsWidth = 0.30f;
+	protected float hipsWidth = HIPS_WIDTH_DEFAULT;
 	/**
 	 * Length from waist to knees
 	 */
-	protected float hipsLength = 0.51f;
+	protected float kneeHeight = 0.42f;
 	/**
 	 * Distance from waist to ankle
 	 */
-	protected float ankleLength = 0.55f;
+	protected float legsLength = 0.84f;
+	protected float footLength = FOOT_LENGTH_DEFAULT;
 	
 	protected float minKneePitch = 0f * FastMath.DEG_TO_RAD;
 	protected float maxKneePitch = 90f * FastMath.DEG_TO_RAD;
@@ -77,8 +83,9 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		lat.setStatus(TrackerStatus.OK);
 		rat.setStatus(TrackerStatus.OK);
 		hipsWidth = server.config.getFloat("body.hipsWidth", hipsWidth);
-		hipsLength = server.config.getFloat("body.hipLength", hipsLength);
-		ankleLength = server.config.getFloat("body.ankleLength", ankleLength);
+		kneeHeight = server.config.getFloat("body.kneeHeight", kneeHeight);
+		legsLength = server.config.getFloat("body.legsLength", legsLength);
+		footLength = server.config.getFloat("body.footLength", footLength);
 		
 		waistNode.attachChild(leftHipNode);
 		leftHipNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
@@ -87,26 +94,58 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		rightHipNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
 		
 		leftHipNode.attachChild(leftKneeNode);
-		leftKneeNode.localTransform.setTranslation(0, -hipsLength, 0);
+		leftKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
 		
 		rightHipNode.attachChild(rightKneeNode);
-		rightKneeNode.localTransform.setTranslation(0, -hipsLength, 0);
+		rightKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
 		
 		leftKneeNode.attachChild(leftAnkleNode);
-		leftAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
+		leftAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
 		
 		rightKneeNode.attachChild(rightAnkleNode);
-		rightAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
+		rightAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
 
 		leftAnkleNode.attachChild(leftFootNode);
-		leftFootNode.localTransform.setTranslation(0, 0, -0.05f);
+		leftFootNode.localTransform.setTranslation(0, 0, -footLength);
 		
 		rightAnkleNode.attachChild(rightFootNode);
-		rightFootNode.localTransform.setTranslation(0, 0, -0.05f);
+		rightFootNode.localTransform.setTranslation(0, 0, -footLength);
 		
 		configMap.put("Hips width", hipsWidth);
-		configMap.put("Hip length", hipsLength);
-		configMap.put("Ankle length", ankleLength);
+		configMap.put("Legs length", legsLength);
+		configMap.put("Knee height", kneeHeight);
+		configMap.put("Foot length", footLength);
+	}
+	
+	@Override
+	public void resetSkeletonConfig(String joint) {
+		super.resetSkeletonConfig(joint);
+		switch(joint) {
+		case "All":
+			// Resets from the parent already performed
+			resetSkeletonConfig("Hips width");
+			resetSkeletonConfig("Foot length");
+			resetSkeletonConfig("Legs length");
+			break;
+		case "Hips width":
+			setSkeletonConfig(joint, HIPS_WIDTH_DEFAULT);
+			break;
+		case "Foot length":
+			setSkeletonConfig(joint, FOOT_LENGTH_DEFAULT);
+			break;
+		case "Legs length": // Set legs length to be 5cm above floor level
+			Vector3f vec = new Vector3f();
+			hmdTracker.getPosition(vec);
+			float height = vec.y;
+			if(height > 0.5f) { // Reset only if floor level is right, todo: read floor level from SteamVR if it's not 0
+				setSkeletonConfig(joint, height - neckLength - waistDistance - DEFAULT_FLOOR_OFFSET);
+			}
+			resetSkeletonConfig("Knee height");
+			break;
+		case "Knee height": // Knees are at 50% of the legs by default
+			setSkeletonConfig(joint, legsLength / 2.0f);
+			break;
+		}
 	}
 	
 	@Override
@@ -116,20 +155,28 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		case "Hips width":
 			hipsWidth = newLength;
 			server.config.setProperty("body.hipsWidth", hipsWidth);
-			leftHipNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
-			rightHipNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
+			leftHipNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
+			rightHipNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
 			break;
-		case "Hip length":
-			hipsLength = newLength;
-			server.config.setProperty("body.hipLength", hipsLength);
-			leftKneeNode.localTransform.setTranslation(0, -hipsLength, 0);
-			rightKneeNode.localTransform.setTranslation(0, -hipsLength, 0);
+		case "Knee height":
+			kneeHeight = newLength;
+			server.config.setProperty("body.kneeHeight", kneeHeight);
+			leftAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
+			rightAnkleNode.localTransform.setTranslation(0, -kneeHeight, 0);
+			leftKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			rightKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
 			break;
-		case "Ankle length":
-			ankleLength = newLength;
-			server.config.setProperty("body.ankleLength", ankleLength);
-			leftAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
-			rightAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
+		case "Legs length":
+			legsLength = newLength;
+			server.config.setProperty("body.legsLength", legsLength);
+			leftKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			rightKneeNode.localTransform.setTranslation(0, -(legsLength - kneeHeight), 0);
+			break;
+		case "Foot length":
+			footLength = newLength;
+			server.config.setProperty("body.footLength", footLength);
+			leftFootNode.localTransform.setTranslation(0, 0, -footLength);
+			rightFootNode.localTransform.setTranslation(0, 0, -footLength);
 			break;
 		}
 	}

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

@@ -16,6 +16,9 @@ import io.eiren.vr.trackers.TrackerUtils;
 
 public class HumanSkeleonWithWaist extends HumanSkeleton {
 	
+	public static final float HEAD_SHIFT_DEFAULT = 0.1f;
+	public static final float NECK_LENGTH_DEFAULT = 0.1f;
+	
 	protected final Map<String, Float> configMap = new HashMap<>();
 	protected final VRServer server;
 
@@ -48,11 +51,11 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 	/**
 	 * Distacne from eyes to the base of the neck
 	 */
-	protected float neckLength = 0.1f;
+	protected float neckLength = NECK_LENGTH_DEFAULT;
 	/**
 	 * Distance from eyes to ear
 	 */
-	protected float headShift = 0.1f;
+	protected float headShift = HEAD_SHIFT_DEFAULT;
 
 	public HumanSkeleonWithWaist(VRServer server, List<ComputedHumanPoseTracker> computedTrackers) {
 		List<Tracker> allTracekrs = server.getAllTrackers();
@@ -96,6 +99,39 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 		configMap.put("Virtual waist", trackerWaistDistance);
 	}
 	
+	@Override
+	public void resetSkeletonConfig(String joint) {
+		switch(joint) {
+		case "All": // Reset all joints according to height
+			resetSkeletonConfig("Head");
+			resetSkeletonConfig("Neck");
+			resetSkeletonConfig("Virtual waist");
+			resetSkeletonConfig("Waist");
+			resetSkeletonConfig("Chest");
+			break;
+		case "Head": 
+			setSkeletonConfig(joint, HEAD_SHIFT_DEFAULT);
+			break;
+		case "Neck": 
+			setSkeletonConfig(joint, NECK_LENGTH_DEFAULT);
+			break;
+		case "Virtual waist": 
+			setSkeletonConfig(joint, 0.0f);
+			break;
+		case "Chest": 
+			setSkeletonConfig(joint, waistDistance / 2.0f);
+			break;
+		case "Waist": // Puts Waist in the middle of the height
+			Vector3f vec = new Vector3f();
+			hmdTracker.getPosition(vec);
+			float height = vec.y;
+			if(height > 0.5f) { // Reset only if floor level is right, todo: read floor level from SteamVR if it's not 0
+				setSkeletonConfig(joint, (height) / 2.0f);
+			}
+			break;
+		}
+	}
+	
 	@Override
 	public Map<String, Float> getSkeletonConfig() {
 		return configMap;
@@ -119,6 +155,7 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 			waistDistance = newLength;
 			server.config.setProperty("body.waistDistance", waistDistance);
 			waistNode.localTransform.setTranslation(0, -(waistDistance - chestDistance), 0);
+			trackerWaistNode.localTransform.setTranslation(0, -(waistDistance + trackerWaistDistance - chestDistance), 0);
 			break;
 		case "Chest":
 			chestDistance = newLength;

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

@@ -18,6 +18,9 @@ public abstract class HumanSkeleton {
 
 	@ThreadSafe
 	public abstract void setSkeletonConfig(String key, float newLength);
+	
+	@ThreadSafe
+	public abstract void resetSkeletonConfig(String joint);
 
 	@VRServerThread
 	public abstract void resetTrackersFull();