Format fixes

SlimeVR · Jul 29, 2024 · 69d62fe · 69d62fe
1 parent 8e09489
commit 69d62fe
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Showing 2 changed files with 10 additions and 13 deletions.
diff --git a/server/core/src/main/java/dev/slimevr/tracking/processor/Constraint.kt b/server/core/src/main/java/dev/slimevr/tracking/processor/Constraint.kt
@@ -5,9 +5,9 @@ import io.github.axisangles.ktmath.Vector3
 import kotlin.math.*
 
 /**
- * Represents a function that applies a rotational constraint to a direction vector.
+ * Represents a function that applies a rotational constraint.
  */
-typealias ConstraintFunction = (Quaternion, Bone, Float, Float) -> Quaternion
+typealias ConstraintFunction = (inputRotation: Quaternion, thisBone: Bone, limit1: Float, limit2: Float) -> Quaternion
 
 /**
  * Represents the rotational limits of a Bone relative to its parent
@@ -103,7 +103,7 @@ class Constraint(
 		}
 
 		// Constraint function for TwistSwingConstraint
-		val twistSwingConstraint: ConstraintFunction =
+		private val twistSwingConstraint: ConstraintFunction =
 			{ rotation: Quaternion, thisBone: Bone, swingRad: Float, twistRad: Float ->
 				if (thisBone.parent == null) {
 					rotation
@@ -121,7 +121,7 @@ class Constraint(
 			}
 
 		// Constraint function for a hinge constraint with min and max angles
-		val hingeConstraint: ConstraintFunction =
+		private val hingeConstraint: ConstraintFunction =
 			{ rotation: Quaternion, thisBone: Bone, min: Float, max: Float ->
 				if (thisBone.parent == null) {
 					rotation
@@ -138,7 +138,7 @@ class Constraint(
 			}
 
 		// Constraint function for CompleteConstraint
-		val completeConstraint: ConstraintFunction = { _: Quaternion, thisBone: Bone, _: Float, _: Float ->
+		private val completeConstraint: ConstraintFunction = { _: Quaternion, thisBone: Bone, _: Float, _: Float ->
 			thisBone.getGlobalRotation()
 		}
 	}

diff --git a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKChain.kt b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKChain.kt
@@ -1,13 +1,11 @@
 package dev.slimevr.tracking.processor.skeleton
 
 import dev.slimevr.tracking.processor.Bone
-import dev.slimevr.tracking.processor.Constraint
+import dev.slimevr.tracking.processor.Constraint.Companion.ConstraintType
 import dev.slimevr.tracking.trackers.Tracker
 import io.github.axisangles.ktmath.Quaternion
 import io.github.axisangles.ktmath.Vector3
-import kotlin.math.acos
-import kotlin.math.cos
-import kotlin.math.sin
+import kotlin.math.*
 
 /*
  * This class implements a chain of Bones
@@ -42,7 +40,7 @@ class IKChain(
 	 */
 	private fun prepBones() {
 		for (i in 0..<bones.size) {
-			if (bones[i].rotationConstraint.allowModifications && bones[i].rotationConstraint.constraintType != Constraint.Companion.ConstraintType.COMPLETE) {
+			if (bones[i].rotationConstraint.allowModifications && bones[i].rotationConstraint.constraintType != ConstraintType.COMPLETE) {
 				bones[i].setRotationRaw(rotations[i])
 			}
 		}
@@ -66,7 +64,7 @@ class IKChain(
 			val angle = baseAngle * IKSolver.DAMPENING_FACTOR * if (currentBone.rotationConstraint.allowModifications) 1f else IKSolver.STATIC_DAMPENING
 
 			val sinHalfAngle = sin(angle / 2)
-			val adjustment = Quaternion(cos(angle / 2), cross.x * sinHalfAngle, cross.y * sinHalfAngle, cross.z * sinHalfAngle)
+			val adjustment = Quaternion(cos(angle / 2), cross * sinHalfAngle)
 			val correctedRot = (adjustment * currentBone.getGlobalRotation()).unit()
 
 			rotations[i] = setBoneRotation(currentBone, correctedRot, useConstraints)
@@ -99,7 +97,6 @@ class IKChain(
 	 * Resets the chain to its default state
 	 */
 	fun resetChain() {
-		// prepBones()
 		distToTargetSqr = Float.POSITIVE_INFINITY
 
 		for (child in children) {
@@ -134,7 +131,7 @@ class IKChain(
 	 * returns the constrained rotation
 	 */
 	private fun setBoneRotation(bone: Bone, rotation: Quaternion, useConstraints: Boolean): Quaternion {
-		val newRotation = if (useConstraints || bone.rotationConstraint.constraintType == Constraint.Companion.ConstraintType.COMPLETE) {
+		val newRotation = if (useConstraints || bone.rotationConstraint.constraintType == ConstraintType.COMPLETE) {
 			bone.rotationConstraint.applyConstraint(rotation, bone)
 		} else {
 			rotation