Update version to 0.1.5

Add simple BVH recording button

build.gradle

@@ -8,7 +8,7 @@
 
 plugins {
 	id 'application'
-	id "com.github.johnrengelman.shadow" version "6.1.0"
+	id "com.github.johnrengelman.shadow" version "7.1.2"
 }
 
 sourceCompatibility = 1.8
@@ -22,9 +22,7 @@ javadoc.options.encoding = 'UTF-8'
 tasks.withType(JavaCompile) {
 	options.encoding = 'UTF-8'
 	if (JavaVersion.current().isJava9Compatible()) {
-		// TODO: Gradle 6.6
-		// options.release = 8
-		options.compilerArgs.addAll(['--release', '8'])
+		options.release = 8
 	}
 }
 tasks.withType(Test) {
@@ -38,30 +36,25 @@ allprojects {
 	repositories {
 		// Use jcenter for resolving dependencies.
 		// You can declare any Maven/Ivy/file repository here.
-		jcenter()
 		mavenCentral()
 	}
 }
 
 dependencies {
-	compile project(':slime-java-commons')
-
-	// This dependency is exported to consumers, that is to say found on their compile classpath.
-	compile 'org.apache.commons:commons-math3:3.6.1'
-	compile 'org.yaml:snakeyaml:1.25'
-	compile 'net.java.dev.jna:jna:5.6.0'
-	compile 'net.java.dev.jna:jna-platform:5.6.0'
-	compile 'com.illposed.osc:javaosc-core:0.8'
-	compile 'com.fazecast:jSerialComm:[2.0.0,3.0.0)'
-	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'
+	implementation project(':slime-java-commons')
 
 	// This dependency is used internally, and not exposed to consumers on their own compile classpath.
-	implementation 'com.google.guava:guava:28.2-jre'
+	implementation 'org.apache.commons:commons-math3:3.6.1'
+	implementation 'net.java.dev.jna:jna:5.10.0'
+	implementation 'net.java.dev.jna:jna-platform:5.10.0'
+	implementation 'com.illposed.osc:javaosc-core:0.8'
+	implementation 'com.fazecast:jSerialComm:2.9.0'
+	implementation 'com.google.protobuf:protobuf-java:3.19.4'
+	implementation "org.java-websocket:Java-WebSocket:1.5.2"
+	implementation 'com.melloware:jintellitype:1.4.0'
 
 	// Use JUnit test framework
-	testImplementation platform('org.junit:junit-bom:5.7.2')
+	testImplementation platform('org.junit:junit-bom:5.8.2')
 	testImplementation 'org.junit.jupiter:junit-jupiter'
 	testImplementation 'org.junit.platform:junit-platform-launcher'
 }
@@ -75,5 +68,5 @@ shadowJar {
 	archiveVersion.set('')
 }
 application {
-	mainClassName = 'dev.slimevr.Main'
+	getMainClass().set('dev.slimevr.Main')
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"

gradlew.bat

@@ -40,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -54,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -64,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell

src/main/java/dev/slimevr/Main.java

@@ -15,7 +15,7 @@ import io.eiren.util.logging.LogManager;
 
 public class Main {
 	
-	public static String VERSION = "0.1.4";
+	public static String VERSION = "0.1.5";
 	
 	public static VRServer vrServer;
 	
@@ -49,7 +49,7 @@ public class Main {
 
 		try {
 			vrServer = new VRServer();
-			vrServer.start();
+			vrServer.start(); 
 			new Keybinding(vrServer);
 			new VRServerGUI(vrServer);
 		} catch(Throwable e) {

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

@@ -321,8 +321,18 @@ public class TrackersList extends EJBoxNoStretch {
 			if(realTracker instanceof TrackerWithTPS) {
 				tps.setText(StringUtils.prettyNumber(((TrackerWithTPS) realTracker).getTPS(), 1));
 			}
-			if(realTracker instanceof TrackerWithBattery)
-				bat.setText(String.format("%d%% (%sV)", Math.round(((TrackerWithBattery) realTracker).getBatteryLevel()), StringUtils.prettyNumber(((TrackerWithBattery) realTracker).getBatteryVoltage(), 2)));
+			if(realTracker instanceof TrackerWithBattery) {
+				TrackerWithBattery twb = (TrackerWithBattery) realTracker;
+				float level = twb.getBatteryLevel();
+				float voltage = twb.getBatteryVoltage();
+				if(level == 0.0f) {
+					bat.setText(String.format("%sV", StringUtils.prettyNumber(voltage, 2)));
+				} else if(voltage == 0.0f) {
+					bat.setText(String.format("%d%%", Math.round(level)));
+				} else {
+					bat.setText(String.format("%d%% (%sV)", Math.round(level), StringUtils.prettyNumber(voltage, 2)));
+				}
+			}
 			if(t instanceof ReferenceAdjustedTracker) {
 				ReferenceAdjustedTracker<Tracker> rat = (ReferenceAdjustedTracker<Tracker>) t;
 				if(adj != null) {

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

@@ -13,10 +13,14 @@ import dev.slimevr.gui.swing.EJBagNoStretch;
 import dev.slimevr.gui.swing.EJBox;
 import dev.slimevr.gui.swing.EJBoxNoStretch;
 import dev.slimevr.vr.trackers.TrackerRole;
+import dev.slimevr.posestreamer.BVHFileStream;
+import dev.slimevr.posestreamer.PoseDataStream;
+import dev.slimevr.posestreamer.ServerPoseStreamer;
 import io.eiren.util.MacOSX;
 import io.eiren.util.OperatingSystem;
 import io.eiren.util.StringUtils;
 import io.eiren.util.ann.AWTThread;
+import io.eiren.util.logging.LogManager;
 
 import java.awt.Component;
 import java.awt.Container;
@@ -29,6 +33,8 @@ import java.awt.event.ActionListener;
 import java.awt.event.ComponentEvent;
 import java.awt.event.MouseEvent;
 import java.awt.image.BufferedImage;
+import java.io.File;
+import java.io.FileNotFoundException;
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
@@ -45,6 +51,10 @@ public class VRServerGUI extends JFrame {
 	private final SkeletonList skeletonList;
 	private JButton resetButton;
 	private EJBox pane;
+
+	private static File bvhSaveDir = new File("BVH Recordings");
+	private final ServerPoseStreamer poseStreamer;
+	private PoseDataStream poseDataStream = null;
 	
 	private float zoom = 1.5f;
 	private float initZoom = zoom;
@@ -88,6 +98,8 @@ public class VRServerGUI extends JFrame {
 		this.trackersList = new TrackersList(server, this);
 		this.skeletonList = new SkeletonList(server, this);
 		
+		this.poseStreamer = new ServerPoseStreamer(server);
+
 		add(new JScrollPane(pane = new EJBox(PAGE_AXIS), ScrollPaneConstants.VERTICAL_SCROLLBAR_AS_NEEDED, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED));
 		GraphicsConfiguration gc = getGraphicsConfiguration();
 		Rectangle screenBounds = gc.getBounds();
@@ -136,6 +148,22 @@ public class VRServerGUI extends JFrame {
 		});
 	}
 	
+	private File getBvhFile() {
+		if (bvhSaveDir.isDirectory() || bvhSaveDir.mkdirs()) {
+			File saveRecording;
+			int recordingIndex = 1;
+			do {
+				saveRecording = new File(bvhSaveDir, "BVH-Recording" + recordingIndex++ + ".bvh");
+			} while(saveRecording.exists());
+			
+			return saveRecording;
+		} else {
+			LogManager.log.severe("[BVH] Failed to create the recording directory \"" + bvhSaveDir.getPath() + "\".");
+		}
+
+		return null;
+	}
+
 	@AWTThread
 	private void build() {
 		pane.removeAll();
@@ -162,6 +190,37 @@ public class VRServerGUI extends JFrame {
 				});
 			}});
 			add(Box.createHorizontalGlue());
+			add(new JButton("Record BVH") {{
+				addMouseListener(new MouseInputAdapter() {
+					@Override
+					public void mouseClicked(MouseEvent e) {
+						if (poseDataStream == null) {
+							File bvhFile = getBvhFile();
+							if (bvhFile != null) {
+								try {
+									poseDataStream = new BVHFileStream(bvhFile);
+									setText("Stop Recording BVH...");
+									poseStreamer.setOutput(poseDataStream, 1000L / 100L);
+								} catch (IOException e1) {
+									LogManager.log.severe("[BVH] Failed to create the recording file \"" + bvhFile.getPath() + "\".");
+								}
+							} else {
+								LogManager.log.severe("[BVH] Unable to get file to save to");
+							}
+						} else {
+							try {
+								poseStreamer.closeOutput(poseDataStream);
+							} catch (Exception e1) {
+								LogManager.log.severe("[BVH] Exception while closing poseDataStream", e1);
+							} finally {
+								poseDataStream = null;
+								setText("Record BVH");
+							}
+						}
+					}
+				});
+			}});
+			add(Box.createHorizontalGlue());
 			add(new JButton("GUI Zoom (x" + StringUtils.prettyNumber(zoom, 2) + ")") {{
 				addMouseListener(new MouseInputAdapter() {
 					@Override

src/main/java/dev/slimevr/posestreamer/BVHFileStream.java

@@ -154,7 +154,7 @@ public class BVHFileStream extends PoseDataStream {
 		writer.write(getBufferedFrameCount(frameCount) + "\n");
 		
 		// Frame time in seconds
-		writer.write("Frame Time: " + (streamer.frameRecordingInterval / 1000d) + "\n");
+		writer.write("Frame Time: " + (streamer.getFrameInterval() / 1000d) + "\n");
 	}
 	
 	// Roughly based off code from https://github.com/TrackLab/ViRe/blob/50a987eff4db31036b2ebaeb5a28983cd473f267/Assets/Scripts/BVH/BVHRecorder.cs
@@ -207,7 +207,7 @@ public class BVHFileStream extends PoseDataStream {
 		
 		// Adjust to local rotation
 		if(inverseRootRot != null) {
-			rotBuf = rotBuf.multLocal(inverseRootRot);
+			rotBuf = inverseRootRot.mult(rotBuf, rotBuf);
 		}
 		
 		// Yaw (Z), roll (X), pitch (Y) (intrinsic)

src/main/java/dev/slimevr/posestreamer/PoseFrameStreamer.java

@@ -0,0 +1,38 @@
+package dev.slimevr.posestreamer;
+
+import java.io.File;
+
+import dev.slimevr.poserecorder.PoseFrameIO;
+import dev.slimevr.poserecorder.PoseFrameSkeleton;
+import dev.slimevr.poserecorder.PoseFrames;
+
+public class PoseFrameStreamer extends PoseStreamer {
+
+	private PoseFrames frames;
+
+	public PoseFrameStreamer(String path) {
+		this(new File(path));
+	}
+
+	public PoseFrameStreamer(File file) {
+		this(PoseFrameIO.readFromFile(file));
+	}
+
+	public PoseFrameStreamer(PoseFrames frames) {
+		super(new PoseFrameSkeleton(frames.getTrackers(), null));
+		this.frames = frames;
+	}
+
+	public PoseFrames getFrames() {
+		return frames;
+	}
+
+	public synchronized void streamAllFrames() {
+		PoseFrameSkeleton skeleton = (PoseFrameSkeleton) this.skeleton;
+		for (int i = 0; i < frames.getMaxFrameCount(); i++) {
+			skeleton.setCursor(i);
+			skeleton.updatePose();
+			captureFrame();
+		}
+	}
+}

src/main/java/dev/slimevr/posestreamer/PoseStreamer.java

@@ -2,72 +2,31 @@ package dev.slimevr.posestreamer;
 
 import java.io.IOException;
 
-import dev.slimevr.VRServer;
-import dev.slimevr.util.ann.VRServerThread;
 import dev.slimevr.vr.processor.skeleton.HumanSkeleton;
 import io.eiren.util.logging.LogManager;
 
 public class PoseStreamer {
 	
 	protected long frameRecordingInterval = 60L;
-	protected long nextFrameTimeMs = -1L;
+
+	protected HumanSkeleton skeleton;
+	protected PoseDataStream poseFileStream;
 	
-	private HumanSkeleton skeleton;
-	private PoseDataStream poseFileStream;
-	
-	protected final VRServer server;
-	
-	public PoseStreamer(VRServer server) {
-		this.server = server;
-		
-		// Register callbacks/events
-		server.addSkeletonUpdatedCallback(this::onSkeletonUpdated);
-		server.addOnTick(this::onTick);
-	}
-	
-	@VRServerThread
-	public void onSkeletonUpdated(HumanSkeleton skeleton) {
+	public PoseStreamer(HumanSkeleton skeleton) {
 		this.skeleton = skeleton;
 	}
 	
-	@VRServerThread
-	public void onTick() {
-		PoseDataStream poseFileStream = this.poseFileStream;
-		if(poseFileStream == null) {
+	public synchronized void captureFrame() {
+		// Make sure the stream is open before trying to write
+		if(poseFileStream.isClosed()) {
 			return;
 		}
 		
-		HumanSkeleton skeleton = this.skeleton;
-		if(skeleton == null) {
-			return;
-		}
-		
-		long curTime = System.currentTimeMillis();
-		if(curTime < nextFrameTimeMs) {
-			return;
-		}
-		
-		nextFrameTimeMs += frameRecordingInterval;
-		
-		// To prevent duplicate frames, make sure the frame time is always in the future
-		if(nextFrameTimeMs <= curTime) {
-			nextFrameTimeMs = curTime + frameRecordingInterval;
-		}
-		
-		// Make sure it's synchronized since this is the server thread interacting with
-		// an unknown outside thread controlling this class
-		synchronized(this) {
-			// Make sure the stream is open before trying to write
-			if(poseFileStream.isClosed()) {
-				return;
-			}
-			
-			try {
-				poseFileStream.writeFrame(skeleton);
-			} catch(Exception e) {
-				// Handle any exceptions without crashing the program
-				LogManager.log.severe("[PoseStreamer] Exception while saving frame", e);
-			}
+		try {
+			poseFileStream.writeFrame(skeleton);
+		} catch(Exception e) {
+			// Handle any exceptions without crashing the program
+			LogManager.log.severe("[PoseStreamer] Exception while saving frame", e);
 		}
 	}
 	
@@ -82,13 +41,16 @@ public class PoseStreamer {
 	public synchronized long getFrameInterval() {
 		return frameRecordingInterval;
 	}
-	
+
+	public synchronized HumanSkeleton getSkeleton() {
+		return skeleton;
+	}
+
 	public synchronized void setOutput(PoseDataStream poseFileStream) throws IOException {
 		poseFileStream.writeHeader(skeleton, this);
 		this.poseFileStream = poseFileStream;
-		nextFrameTimeMs = -1L; // Reset the frame timing
 	}
-	
+
 	public synchronized void setOutput(PoseDataStream poseFileStream, long intervalMs) throws IOException {
 		setFrameInterval(intervalMs);
 		setOutput(poseFileStream);

src/main/java/dev/slimevr/posestreamer/ServerPoseStreamer.java

@@ -0,0 +1,30 @@
+package dev.slimevr.posestreamer;
+
+
+import dev.slimevr.VRServer;
+import dev.slimevr.util.ann.VRServerThread;
+import dev.slimevr.vr.processor.skeleton.HumanSkeleton;
+
+public class ServerPoseStreamer extends TickPoseStreamer {
+	
+	protected final VRServer server;
+	
+	public ServerPoseStreamer(VRServer server) {
+		super(null); // Skeleton is registered later
+		this.server = server;
+		
+		// Register callbacks/events
+		server.addSkeletonUpdatedCallback(this::onSkeletonUpdated);
+		server.addOnTick(this::onTick);
+	}
+	
+	@VRServerThread
+	public void onSkeletonUpdated(HumanSkeleton skeleton) {
+		this.skeleton = skeleton;
+	}
+	
+	@VRServerThread
+	public void onTick() {
+		super.doTick();
+	}
+}

src/main/java/dev/slimevr/posestreamer/StdBVHFileStream.java

@@ -27,23 +27,7 @@ public class StdBVHFileStream extends BVHFileStream {
 			return null;
 		}
 		
-		TransformNodeWrapper wrappedRoot = TransformNodeWrapper.wrapHierarchyDown(newRoot);
-		
-		/*
-		// If should wrap up hierarchy
-		if (newRoot.getParent() != null) {
-			// Create an extra node for full proper rotation
-			TransformNodeWrapper spineWrapper = new TransformNodeWrapper(new TransformNode("Spine", false), true, 1);
-			wrappedRoot.attachChild(spineWrapper);
-		
-			// Wrap up on top of the spine node
-			TransformNodeWrapper.wrapNodeHierarchyUp(newRoot, spineWrapper);
-		}
-		*/
-		
-		TransformNodeWrapper.wrapNodeHierarchyUp(wrappedRoot);
-		
-		return wrappedRoot;
+		return TransformNodeWrapper.wrapFullHierarchy(newRoot);
 	}
 	
 	private TransformNode getNodeFromHierarchy(TransformNode node, String name) {

src/main/java/dev/slimevr/posestreamer/TickPoseStreamer.java

@@ -0,0 +1,46 @@
+package dev.slimevr.posestreamer;
+
+import java.io.IOException;
+
+import dev.slimevr.vr.processor.skeleton.HumanSkeleton;
+
+public class TickPoseStreamer extends PoseStreamer {
+	
+	protected long nextFrameTimeMs = -1L;
+	
+	public TickPoseStreamer(HumanSkeleton skeleton) {
+		super(skeleton);
+	}
+	
+	public void doTick() {
+		PoseDataStream poseFileStream = this.poseFileStream;
+		if(poseFileStream == null) {
+			return;
+		}
+		
+		HumanSkeleton skeleton = this.skeleton;
+		if(skeleton == null) {
+			return;
+		}
+		
+		long curTime = System.currentTimeMillis();
+		if(curTime < nextFrameTimeMs) {
+			return;
+		}
+		
+		nextFrameTimeMs += frameRecordingInterval;
+		
+		// To prevent duplicate frames, make sure the frame time is always in the future
+		if(nextFrameTimeMs <= curTime) {
+			nextFrameTimeMs = curTime + frameRecordingInterval;
+		}
+		
+		captureFrame();
+	}
+
+	@Override
+	public synchronized void setOutput(PoseDataStream poseFileStream) throws IOException {
+		super.setOutput(poseFileStream);
+		nextFrameTimeMs = -1L; // Reset the frame timing
+	}
+}

src/main/java/dev/slimevr/posestreamer/TransformNodeWrapper.java

@@ -58,25 +58,38 @@ public class TransformNodeWrapper {
 	public TransformNodeWrapper(TransformNode nodeToWrap) {
 		this(nodeToWrap, nodeToWrap.getName());
 	}
+
+	public static TransformNodeWrapper wrapFullHierarchyWithFakeRoot(TransformNode root) {
+		// Allocate a "fake" root with appropriate size depending on connections the root has
+		TransformNodeWrapper fakeRoot = new TransformNodeWrapper(root, root.getParent() != null ? 2 : 1);
+
+		// Attach downwards hierarchy to the fake root
+		wrapNodeHierarchyDown(root, fakeRoot);
+
+		// Attach upwards hierarchy to the fake root
+		fakeRoot.attachChild(wrapHierarchyUp(root));
+
+		return fakeRoot;
+	}
 	
 	public static TransformNodeWrapper wrapFullHierarchy(TransformNode root) {
 		return wrapNodeHierarchyUp(wrapHierarchyDown(root));
 	}
 	
 	public static TransformNodeWrapper wrapHierarchyDown(TransformNode root) {
-		return wrapNodeHierarchyDown(new TransformNodeWrapper(root, root.children.size()));
+		return wrapNodeHierarchyDown(root, new TransformNodeWrapper(root, root.children.size()));
 	}
 	
-	public static TransformNodeWrapper wrapNodeHierarchyDown(TransformNodeWrapper root) {
-		for(TransformNode child : root.wrappedNode.children) {
-			root.attachChild(wrapHierarchyDown(child));
+	public static TransformNodeWrapper wrapNodeHierarchyDown(TransformNode root, TransformNodeWrapper target) {
+		for(TransformNode child : root.children) {
+			target.attachChild(wrapHierarchyDown(child));
 		}
 		
-		return root;
+		return target;
 	}
 	
 	public static TransformNodeWrapper wrapHierarchyUp(TransformNode root) {
-		return wrapNodeHierarchyUp(new TransformNodeWrapper(root, root.getParent() != null ? 1 : 0));
+		return wrapNodeHierarchyUp(new TransformNodeWrapper(root, true, root.getParent() != null ? 1 : 0));
 	}
 	
 	public static TransformNodeWrapper wrapNodeHierarchyUp(TransformNodeWrapper root) {
@@ -132,7 +145,7 @@ public class TransformNodeWrapper {
 			result = new Quaternion();
 		}
 		
-		return worldTransform.getRotation().mult(inverseRelativeTo, result);
+		return inverseRelativeTo.mult(worldTransform.getRotation(), result);
 	}
 	
 	public void attachChild(TransformNodeWrapper node) {

src/main/java/dev/slimevr/vr/trackers/udp/TrackersUDPServer.java

@@ -130,7 +130,7 @@ public class TrackersUDPServer extends Thread {
 					LogManager.log.info("[TrackerServer] Tracker " + i + " added with address " + handshakePacket.getSocketAddress() + ". Board type: " + handshake.boardType + ", imu type: " + handshake.imuType + ", firmware: " + handshake.firmware + " (" + connection.firmwareBuild + "), mac: " + handshake.macString + ", name: " + connection.name);
 				}
 			}
-			if(connection.protocol == NetworkProtocol.OWO_LEGACY || connection.firmwareBuild < 8) {
+			if(connection.protocol == NetworkProtocol.OWO_LEGACY || connection.firmwareBuild < 9) {
 				// Set up new sensor for older firmware
 				// Firmware after 7 should send sensor status packet and sensor will be created when it's received
 				setUpSensor(connection, 0, handshake.imuType, 1);

src/main/java/dev/slimevr/vr/trackers/udp/UDPPacket12BatteryLevel.java

@@ -19,8 +19,12 @@ public class UDPPacket12BatteryLevel extends UDPPacket {
 	@Override
 	public void readData(ByteBuffer buf) throws IOException {
 		voltage = buf.getFloat();
-		if(buf.remaining() > 3)
+		if(buf.remaining() > 3) {
 			level = buf.getFloat();
+		} else {
+			level = voltage;
+			voltage = 0.0f;
+		}
 	}
 	
 	@Override

src/main/java/dev/slimevr/vr/trackers/udp/UDPPacket15SensorInfo.java

@@ -23,7 +23,8 @@ public class UDPPacket15SensorInfo extends UDPPacket implements SensorSpecificPa
 	public void readData(ByteBuffer buf) throws IOException {
 		sensorId = buf.get() & 0xFF;
 		sensorStatus = buf.get() & 0xFF;
-		sensorType = buf.get() & 0xFF;
+		if(buf.remaining() > 0)
+			sensorType = buf.get() & 0xFF;
 	}
 	
 	@Override

src/main/java/dev/slimevr/vr/trackers/udp/UDPPacket16Rotation2.java

@@ -12,6 +12,6 @@ public class UDPPacket16Rotation2 extends UDPPacket1Rotation {
 
 	@Override
 	public int getSensorId() {
-		return 2;
+		return 1;
 	}
 }

src/main/java/dev/slimevr/vr/trackers/udp/UDPProtocolParser.java

@@ -51,7 +51,7 @@ public class UDPProtocolParser {
 		if(newPacket != null) {
 			newPacket.readData(buf);
 		} else {
-			LogManager.log.debug("[UDPPorotocolParser] Skipped packet id " + packetId + " from " + connection);
+			//LogManager.log.debug("[UDPPorotocolParser] Skipped packet id " + packetId + " from " + connection);
 		}
 		return newPacket;
 	}