Positional tracker support

gui/public/i18n/en/translation.ftl

@@ -396,6 +396,14 @@ settings-general-fk_settings-leg_tweak-foot_plant-description = Foot-plant rotat
 settings-general-fk_settings-leg_fk = Leg tracking
 settings-general-fk_settings-leg_fk-reset_mounting_feet-description = Enable feet Mounting Reset by tiptoeing.
 settings-general-fk_settings-leg_fk-reset_mounting_feet = Feet Mounting Reset
+settings-general-fk_settings-enforce_joint_constraints = Skeletal Limits
+settings-general-fk_settings-enforce_joint_constraints-enforce_constraints = Enforce constraints
+settings-general-fk_settings-enforce_joint_constraints-enforce_constraints-description = Prevents joints from rotating past their limit
+settings-general-fk_settings-enforce_joint_constraints-correct_constraints = Correct with constraints
+settings-general-fk_settings-enforce_joint_constraints-correct_constraints-description = Correct joint rotations when they push last their limit
+settings-general-fk_settings-ik = Position data
+settings-general-fk_settings-ik-use_position = Use Position data
+settings-general-fk_settings-ik-use_position-description = Enables the use of position data from trackers that provide it. When enabling this make sure to full reset and recalibrate in game.
 settings-general-fk_settings-arm_fk = Arm tracking
 settings-general-fk_settings-arm_fk-description = Force arms to be tracked from the headset (HMD) even if positional hand data is available.
 settings-general-fk_settings-arm_fk-force_arms = Force arms from HMD

gui/src/components/settings/pages/GeneralSettings.tsx

@@ -69,6 +69,9 @@ interface SettingsForm {
     toeSnap: boolean;
     footPlant: boolean;
     selfLocalization: boolean;
+    usePosition: boolean;
+    enforceConstraints: boolean;
+    correctConstraints: boolean;
   };
   ratios: {
     imputeWaistFromChestHip: number;
@@ -128,6 +131,9 @@ const defaultValues: SettingsForm = {
     toeSnap: false,
     footPlant: true,
     selfLocalization: false,
+    usePosition: true,
+    enforceConstraints: true,
+    correctConstraints: true,
   },
   ratios: {
     imputeWaistFromChestHip: 0.3,
@@ -235,6 +241,9 @@ export function GeneralSettings() {
       toggles.toeSnap = values.toggles.toeSnap;
       toggles.footPlant = values.toggles.footPlant;
       toggles.selfLocalization = values.toggles.selfLocalization;
+      toggles.usePosition = values.toggles.usePosition;
+      toggles.enforceConstraints = values.toggles.enforceConstraints;
+      toggles.correctConstraints = values.toggles.correctConstraints;
       modelSettings.toggles = toggles;
     }
 
@@ -981,6 +990,7 @@ export function GeneralSettings() {
                 )}
               />
             </div>
+
             <Typography color="secondary">
               {l10n.getString(
                 'settings-general-fk_settings-arm_fk-reset_mode-description'
@@ -1033,6 +1043,70 @@ export function GeneralSettings() {
               ></Radio>
             </div>
 
+            <div className="flex flex-col pt-2 pb-3">
+              <Typography bold>
+                {l10n.getString(
+                  'settings-general-fk_settings-enforce_joint_constraints'
+                )}
+              </Typography>
+              <Typography color="secondary">
+                {l10n.getString(
+                  'settings-general-fk_settings-enforce_joint_constraints-enforce_constraints-description'
+                )}
+              </Typography>
+            </div>
+            <div className="grid sm:grid-cols-1 pb-3">
+              <CheckBox
+                variant="toggle"
+                outlined
+                control={control}
+                name="toggles.enforceConstraints"
+                label={l10n.getString(
+                  'settings-general-fk_settings-enforce_joint_constraints-enforce_constraints'
+                )}
+              />
+            </div>
+            <div className="flex flex-col pt-2 pb-3">
+              <Typography color="secondary">
+                {l10n.getString(
+                  'settings-general-fk_settings-enforce_joint_constraints-correct_constraints-description'
+                )}
+              </Typography>
+            </div>
+            <div className="grid sm:grid-cols-1 pb-3">
+              <CheckBox
+                variant="toggle"
+                outlined
+                control={control}
+                name="toggles.correctConstraints"
+                label={l10n.getString(
+                  'settings-general-fk_settings-enforce_joint_constraints-correct_constraints'
+                )}
+              />
+            </div>
+
+            <div className="flex flex-col pt-2 pb-3">
+              <Typography bold>
+                {l10n.getString('settings-general-fk_settings-ik')}
+              </Typography>
+              <Typography color="secondary">
+                {l10n.getString(
+                  'settings-general-fk_settings-ik-use_position-description'
+                )}
+              </Typography>
+            </div>
+            <div className="grid sm:grid-cols-1 pb-3">
+              <CheckBox
+                variant="toggle"
+                outlined
+                control={control}
+                name="toggles.usePosition"
+                label={l10n.getString(
+                  'settings-general-fk_settings-ik-use_position'
+                )}
+              />
+            </div>
+
             {config?.debug && (
               <>
                 <div className="flex flex-col pt-2 pb-3">

server/core/src/main/java/dev/slimevr/autobone/AutoBoneStep.kt

@@ -40,9 +40,11 @@ class AutoBoneStep(
 		// Load server configs into the skeleton
 		skeleton1.loadFromConfig(serverConfig)
 		skeleton2.loadFromConfig(serverConfig)
-		// Disable leg tweaks, this will mess with the resulting positions
+		// Disable leg tweaks and IK solver, these will mess with the resulting positions
 		skeleton1.setLegTweaksEnabled(false)
 		skeleton2.setLegTweaksEnabled(false)
+		skeleton1.setIKSolverEnabled(false)
+		skeleton2.setIKSolverEnabled(false)
 	}
 
 	fun setCursors(cursor1: Int, cursor2: Int, updatePlayerCursors: Boolean) {

server/core/src/main/java/dev/slimevr/filtering/QuaternionMovingAverage.kt

@@ -21,6 +21,7 @@ class QuaternionMovingAverage(
 	initialRotation: Quaternion,
 ) {
 	var filteredQuaternion = IDENTITY
+	var filteringImpact = 0f
 	private var smoothFactor = 0f
 	private var predictFactor = 0f
 	private lateinit var rotBuffer: CircularArrayList<Quaternion>
@@ -91,6 +92,8 @@ class QuaternionMovingAverage(
 			// Smooth towards the target rotation by the slerp factor
 			filteredQuaternion = smoothingQuaternion.interpR(latestQuaternion, amt)
 		}
+
+		filteringImpact = latestQuaternion.angleToR(filteredQuaternion)
 	}
 
 	@Synchronized

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.java

@@ -191,7 +191,9 @@ public static int createModelSettings(
 				humanPoseManager.getToggle(SkeletonConfigToggles.TOE_SNAP),
 				humanPoseManager.getToggle(SkeletonConfigToggles.FOOT_PLANT),
 				humanPoseManager.getToggle(SkeletonConfigToggles.SELF_LOCALIZATION),
-				false
+				humanPoseManager.getToggle(SkeletonConfigToggles.USE_POSITION),
+				humanPoseManager.getToggle(SkeletonConfigToggles.ENFORCE_CONSTRAINTS),
+				humanPoseManager.getToggle(SkeletonConfigToggles.CORRECT_CONSTRAINTS)
 			);
 		int ratiosOffset = ModelRatios
 			.createModelRatios(

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.kt

@@ -256,6 +256,9 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
 				hpm.setToggle(SkeletonConfigToggles.TOE_SNAP, toggles.toeSnap())
 				hpm.setToggle(SkeletonConfigToggles.FOOT_PLANT, toggles.footPlant())
 				hpm.setToggle(SkeletonConfigToggles.SELF_LOCALIZATION, toggles.selfLocalization())
+				hpm.setToggle(SkeletonConfigToggles.USE_POSITION, toggles.usePosition())
+				hpm.setToggle(SkeletonConfigToggles.ENFORCE_CONSTRAINTS, toggles.enforceConstraints())
+				hpm.setToggle(SkeletonConfigToggles.CORRECT_CONSTRAINTS, toggles.correctConstraints())
 			}
 
 			if (ratios != null) {

server/core/src/main/java/dev/slimevr/tracking/processor/Bone.kt

@@ -7,7 +7,7 @@ import java.util.concurrent.CopyOnWriteArrayList
 /**
  * Represents a bone composed of 2 joints: headNode and tailNode.
  */
-class Bone(val boneType: BoneType) {
+class Bone(val boneType: BoneType, val rotationConstraint: Constraint) {
 	private val headNode = TransformNode(true)
 	private val tailNode = TransformNode(false)
 	var parent: Bone? = null
@@ -58,6 +58,14 @@ class Bone(val boneType: BoneType) {
 		headNode.update()
 	}
 
+	/**
+	 * Computes the rotations and positions of this bone.
+	 */
+	fun updateThisNode() {
+		headNode.updateThisNode()
+		tailNode.updateThisNode()
+	}
+
 	/**
 	 * Returns the world-aligned rotation of the bone
 	 */
@@ -75,6 +83,13 @@ class Bone(val boneType: BoneType) {
 		headNode.localTransform.rotation = rotation * rotationOffset
 	}
 
+	/**
+	 * Sets the global rotation of the bone directly
+	 */
+	fun setRotationRaw(rotation: Quaternion) {
+		headNode.localTransform.rotation = rotation
+	}
+
 	/**
 	 * Returns the global position of the head of the bone
 	 */

server/core/src/main/java/dev/slimevr/tracking/processor/BoneType.java

@@ -36,6 +36,8 @@ public enum BoneType {
 	RIGHT_UPPER_ARM(BodyPart.RIGHT_UPPER_ARM),
 	LEFT_SHOULDER(BodyPart.LEFT_SHOULDER),
 	RIGHT_SHOULDER(BodyPart.RIGHT_SHOULDER),
+	LEFT_UPPER_SHOULDER,
+	RIGHT_UPPER_SHOULDER,
 	LEFT_HAND(BodyPart.LEFT_HAND),
 	RIGHT_HAND(BodyPart.RIGHT_HAND),
 	LEFT_HAND_TRACKER,