Apply filtering post-reset, reapply 180° fix removal & fix getYawQuaternion polarity #449

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MrUnknownDE · 2026-04-05T18:56:59+02:00

MrUnknownDE commented

2026-04-05 18:56:59 +02:00

Originally created by @Erimelowo on 3/17/2025

Basically 3 things going on in this PR (1 per commit)

Apply filtering after reset instead of before (based off the reset-adjusted rotation instead of the raw rotation)
Revert the revert of the 180 degrees skeleton fix (so that there's no snapping but could be centaur)
Fix the polarity of the getYawQuaternion(Quaternion): Quaternion method in TrackerResetsHandler, making sure the polarity of the return Quaternion is the same as the one of the parameter Quaternion.

This needs testing, especially for other places that use getYawQuaternion such as drift compensation and VRTrackers.
Also obviously need to make sure centaur doesn't trigger at all anymore.

*Originally created by @Erimelowo on 3/17/2025* Basically 3 things going on in this PR (1 per commit) 1. Apply filtering *after* reset instead of before (based off the reset-adjusted rotation instead of the raw rotation) 2. Revert the revert of the 180 degrees skeleton fix (so that there's no snapping but could be centaur) 3. Fix the polarity of the `getYawQuaternion(Quaternion): Quaternion` method in TrackerResetsHandler, making sure the polarity of the return Quaternion is the same as the one of the parameter Quaternion. This needs testing, especially for other places that use getYawQuaternion such as drift compensation and VRTrackers. Also obviously need to make sure centaur doesn't trigger at all anymore.

MrUnknownDE closed this issue

2026-04-05 18:56:59 +02:00

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Reference: github/SlimeVR-Server#449