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Skeleton Constraints #1222

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Skeleton Constraints #1222

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Adds constraints to the joints of the skeleton allowing for unrealistic joint angles to be clamped to more reasonable values and for extreme drift to be compensated for. Needs SlimeVR/SolarXR-Protocol#152 to get merged

@Stermere
commit starting code
533750b
@Stermere
more bug fixes
624628c
@Stermere
it works!
607fb3b
@Stermere
simplify forward pass
09dbb0d
@Stermere
remove pointless class
d34b1e5
@Stermere
add Constraint
4bcac94
@Stermere
Make Constraint abstract to allow multiple constraint types to be added
bd41b5a
@Stermere
bug fixes and move classes to own file
a57191d
@Stermere
add constraints to each bone
1ceba55
@Stermere
bug fixes + use quat lib projection
36b69a0
@Stermere
add apply Constraint Inverse
8606c0e
@Stermere
bug fixes + make vars private
96638dc
@Stermere
fix centroid deadlocking
17abee4
@Stermere
modify applyConstraint + add CompleteConstraint
16fb03e
@Stermere
spotless
20e4505
@Stermere
add allowModification to Constraint
a80d7fd
@Stermere
add locking of rotation on bones where a rotation tracker is present
70f3259
@Stermere
account for bone.rotationOffset + change input to constrainRotation
cb69dd3
@Stermere
fix constrain function
6e3eb0f
@Stermere
formatting + add position offset at time of reset
fd5363f
@Stermere
update skeletal constraints
e5d237c
@Stermere
spotless
0c60b7a
@Stermere
add base constraint offset cause its actually needed
a8ca8f8
@Stermere
fix bug where a constrained sub-base being unable to solve would affe…
16771d4 
…ct later chain's ability to reach the target.
@Stermere
fix bug where a chain would jitter if in reach of the target but unab…
7ec4368 
…le to solve due to join restrictions
@Stermere
small things
a879967
@Stermere
Add IKConstraint
66b3967
@Stermere
Reduce IKSolver control in the spine area
57e732b
@Stermere
Allow deviation from rotational constraints if the chains cannot solve
dfb048a
@Stermere
Update loosening to be more selective and fix chain builder bug
1d5a1a5
@github-actions github-actions bot added Area: Skeletal Model Deals with the model of the skeleton and its pose Area: Application Protocol Related to communication with apps like the GUI, overlay, games Area: AutoBone The AutoBone feature Area: Translation Improvements or additions to translations Area: Server Related to the server labels Oct 30, 2024
@Stermere Stermere added Priority: Normal The default priority Type: Enhancement Adds or improves a feature Area: Application Protocol Related to communication with apps like the GUI, overlay, games Area: AutoBone The AutoBone feature Area: Translation Improvements or additions to translations and removed Area: Application Protocol Related to communication with apps like the GUI, overlay, games Area: AutoBone The AutoBone feature Area: Translation Improvements or additions to translations labels Oct 31, 2024
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@ButterscotchV ButterscotchV Awaiting requested review from ButterscotchV ButterscotchV is a code owner

@Eirenliel Eirenliel Awaiting requested review from Eirenliel Eirenliel is a code owner

@Erimelowo Erimelowo Awaiting requested review from Erimelowo Erimelowo is a code owner

@ImUrX ImUrX Awaiting requested review from ImUrX ImUrX is a code owner

@loucass003 loucass003 Awaiting requested review from loucass003 loucass003 is a code owner

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Area: Application Protocol Related to communication with apps like the GUI, overlay, games Area: AutoBone The AutoBone feature Area: Server Related to the server Area: Skeletal Model Deals with the model of the skeleton and its pose Area: Translation Improvements or additions to translations Priority: Normal The default priority Type: Enhancement Adds or improves a feature
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@Stermere @ImUrX