Use split offsets and rename foot_offset to foot_shift (#199)

SlimeVR · Jun 28, 2022 · 7c37fdb · 7c37fdb
1 parent ceb1cc7
commit 7c37fdb
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Showing 7 changed files with 81 additions and 113 deletions.
diff --git a/slime-java-commons b/slime-java-commons
diff --git a/src/main/java/dev/slimevr/autobone/AutoBone.java b/src/main/java/dev/slimevr/autobone/AutoBone.java
@@ -194,7 +194,7 @@ public void reloadConfigValues(List<PoseFrameTracker> trackers) {
 
 		// Keep "feet" at ankles
 		staticConfigs.put(SkeletonConfigValue.FOOT_LENGTH, 0f);
-		staticConfigs.put(SkeletonConfigValue.FOOT_OFFSET, 0f);
+		staticConfigs.put(SkeletonConfigValue.FOOT_SHIFT, 0f);
 		staticConfigs.put(SkeletonConfigValue.SKELETON_OFFSET, 0f);
 	}
 

diff --git a/src/main/java/dev/slimevr/vr/processor/skeleton/BoneType.java b/src/main/java/dev/slimevr/vr/processor/skeleton/BoneType.java
@@ -4,9 +4,7 @@
 
 
 /**
- * Keys for all bones in the skeleton. TODO: Some bones are deprecated because
- * they are still used as SkeletonNodeOffset, and represent both left and right
- * offsets, but they should be split into two.
+ * Keys for all bones in the skeleton.
  */
 public enum BoneType {
 
@@ -20,52 +18,29 @@ public enum BoneType {
 	HIP_TRACKER(BodyPart.HIP),
 	LEFT_HIP,
 	RIGHT_HIP,
-	@Deprecated
-	UPPER_LEG,
 	LEFT_UPPER_LEG(BodyPart.LEFT_UPPER_LEG),
 	RIGHT_UPPER_LEG(BodyPart.RIGHT_UPPER_LEG),
-	@Deprecated
-	KNEE_TRACKER,
 	LEFT_KNEE_TRACKER,
 	RIGHT_KNEE_TRACKER,
-	@Deprecated
-	LOWER_LEG,
 	LEFT_LOWER_LEG(BodyPart.LEFT_LOWER_LEG),
 	RIGHT_LOWER_LEG(BodyPart.RIGHT_LOWER_LEG),
-	@Deprecated
-	FOOT,
 	LEFT_FOOT(BodyPart.LEFT_FOOT),
 	RIGHT_FOOT(BodyPart.RIGHT_FOOT),
-	@Deprecated
-	FOOT_TRACKER,
 	LEFT_FOOT_TRACKER(BodyPart.LEFT_FOOT),
 	RIGHT_FOOT_TRACKER(BodyPart.RIGHT_FOOT),
-	@Deprecated
-	CONTROLLER,
 	LEFT_CONTROLLER(BodyPart.LEFT_CONTROLLER),
 	RIGHT_CONTROLLER(BodyPart.RIGHT_CONTROLLER),
-	@Deprecated
-	LOWER_ARM,
 	LEFT_LOWER_ARM(BodyPart.LEFT_LOWER_ARM),
 	RIGHT_LOWER_ARM(BodyPart.RIGHT_LOWER_ARM),
-	@Deprecated
-	LOWER_ARM_HMD,
-	@Deprecated
-	ELBOW_TRACKER,
 	LEFT_ELBOW_TRACKER,
 	RIGHT_ELBOW_TRACKER,
-	@Deprecated
 	UPPER_ARM,
 	LEFT_UPPER_ARM(BodyPart.LEFT_UPPER_ARM),
 	RIGHT_UPPER_ARM(BodyPart.RIGHT_UPPER_ARM),
 	LEFT_SHOULDER,
 	RIGHT_SHOULDER,
-	@Deprecated
-	HAND,
 	LEFT_HAND(BodyPart.LEFT_HAND),
 	RIGHT_HAND(BodyPart.RIGHT_HAND),
-	@Deprecated
-	HAND_TRACKER,
 	LEFT_HAND_TRACKER,
 	RIGHT_HAND_TRACKER;
 

diff --git a/src/main/java/dev/slimevr/vr/processor/skeleton/HumanSkeleton.java b/src/main/java/dev/slimevr/vr/processor/skeleton/HumanSkeleton.java
@@ -120,7 +120,6 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 		false
 	);
 	// #endregion
-	protected final Quaternion kneeRotation = new Quaternion();
 	// #region Buffers
 	private final Vector3f posBuf = new Vector3f();
 	private final Quaternion rotBuf1 = new Quaternion();
@@ -129,8 +128,6 @@ public class HumanSkeleton extends Skeleton implements SkeletonConfigCallback {
 	private final Quaternion rotBuf4 = new Quaternion();
 	protected boolean hasSpineTracker;
 	protected boolean hasKneeTrackers;
-	protected float minKneePitch = 0f * FastMath.DEG_TO_RAD;
-	protected float maxKneePitch = 90f * FastMath.DEG_TO_RAD;
 	static final Quaternion FORWARD_QUATERNION = new Quaternion()
 		.fromAngles(FastMath.HALF_PI, 0, 0);
 	static final float FLOOR_OFFSET = 0.05f;
@@ -1223,49 +1220,46 @@ public void updateNodeOffset(BoneType nodeOffset, Vector3f offset) {
 			case RIGHT_HIP:
 				rightHipNode.localTransform.setTranslation(offset);
 				break;
-			case UPPER_LEG:
 			case LEFT_UPPER_LEG:
 			case RIGHT_UPPER_LEG:
 				leftKneeNode.localTransform.setTranslation(offset);
 				rightKneeNode.localTransform.setTranslation(offset);
 				break;
-			case KNEE_TRACKER:
 			case LEFT_KNEE_TRACKER:
 			case RIGHT_KNEE_TRACKER:
 				trackerLeftKneeNode.localTransform.setTranslation(offset);
 				trackerRightKneeNode.localTransform.setTranslation(offset);
 				break;
-			case LOWER_LEG:
 			case LEFT_LOWER_LEG:
 			case RIGHT_LOWER_LEG:
 				leftAnkleNode.localTransform.setTranslation(offset);
 				rightAnkleNode.localTransform.setTranslation(offset);
 				break;
-			case FOOT:
 			case LEFT_FOOT:
 			case RIGHT_FOOT:
 				leftFootNode.localTransform.setTranslation(offset);
 				rightFootNode.localTransform.setTranslation(offset);
 				break;
-			case FOOT_TRACKER:
 			case LEFT_FOOT_TRACKER:
 			case RIGHT_FOOT_TRACKER:
 				trackerLeftFootNode.localTransform.setTranslation(offset);
 				trackerRightFootNode.localTransform.setTranslation(offset);
 				break;
-			case CONTROLLER:
 			case LEFT_CONTROLLER:
 			case RIGHT_CONTROLLER:
 				leftWristNodeContrl.localTransform.setTranslation(offset);
 				rightWristNodeContrl.localTransform.setTranslation(offset);
 				break;
-			case LOWER_ARM:
 			case LEFT_LOWER_ARM:
 			case RIGHT_LOWER_ARM:
 				leftElbowNodeContrl.localTransform.setTranslation(offset);
 				rightElbowNodeContrl.localTransform.setTranslation(offset);
+				// Dirty hack: from HMD goes the opposite way as from
+				// controllers, so we negate the offset.
+				Vector3f negatedOffset = offset.negate();
+				leftWristNodeHmd.localTransform.setTranslation(negatedOffset);
+				rightWristNodeHmd.localTransform.setTranslation(negatedOffset);
 				break;
-			case ELBOW_TRACKER:
 			case LEFT_ELBOW_TRACKER:
 			case RIGHT_ELBOW_TRACKER:
 				trackerLeftElbowNodeContrl.localTransform.setTranslation(offset);
@@ -1279,22 +1273,16 @@ public void updateNodeOffset(BoneType nodeOffset, Vector3f offset) {
 			case RIGHT_SHOULDER:
 				rightShoulderNodeHmd.localTransform.setTranslation(offset);
 				break;
-			case HAND:
 			case LEFT_HAND:
 			case RIGHT_HAND:
 				leftHandNodeHmd.localTransform.setTranslation(offset);
 				rightHandNodeHmd.localTransform.setTranslation(offset);
 				break;
-			case UPPER_ARM:
 			case LEFT_UPPER_ARM:
 			case RIGHT_UPPER_ARM:
 				leftElbowNodeHmd.localTransform.setTranslation(offset);
 				rightElbowNodeHmd.localTransform.setTranslation(offset);
 				break;
-			case LOWER_ARM_HMD:
-				leftWristNodeHmd.localTransform.setTranslation(offset);
-				rightWristNodeHmd.localTransform.setTranslation(offset);
-				break;
 			default:
 				break;
 		}
@@ -1349,7 +1337,7 @@ public void updatePoseAffectedByConfig(SkeletonConfigValue config) {
 				rightFootNode.update();
 				updateComputedTrackers();
 				break;
-			case FOOT_OFFSET:
+			case FOOT_SHIFT:
 				leftAnkleNode.update();
 				rightAnkleNode.update();
 				updateComputedTrackers();
@@ -1476,8 +1464,8 @@ public void resetSkeletonConfig(SkeletonConfigValue config) {
 			case FOOT_LENGTH:
 				skeletonConfig.setConfig(SkeletonConfigValue.FOOT_LENGTH, null);
 				break;
-			case FOOT_OFFSET:
-				skeletonConfig.setConfig(SkeletonConfigValue.FOOT_OFFSET, null);
+			case FOOT_SHIFT:
+				skeletonConfig.setConfig(SkeletonConfigValue.FOOT_SHIFT, null);
 				break;
 			case SKELETON_OFFSET:
 				skeletonConfig.setConfig(SkeletonConfigValue.SKELETON_OFFSET, null);

diff --git a/src/main/java/dev/slimevr/vr/processor/skeleton/SkeletonConfig.java b/src/main/java/dev/slimevr/vr/processor/skeleton/SkeletonConfig.java
@@ -294,15 +294,14 @@ public void computeNodeOffset(BoneType nodeOffset) {
 					-getConfig(SkeletonConfigValue.SKELETON_OFFSET)
 				);
 				break;
-
 			case LEFT_HIP:
 				setNodeOffset(nodeOffset, -getConfig(SkeletonConfigValue.HIPS_WIDTH) / 2f, 0, 0);
 				break;
 			case RIGHT_HIP:
 				setNodeOffset(nodeOffset, getConfig(SkeletonConfigValue.HIPS_WIDTH) / 2f, 0, 0);
 				break;
-
-			case UPPER_LEG:
+			case LEFT_UPPER_LEG:
+			case RIGHT_UPPER_LEG:
 				setNodeOffset(
 					nodeOffset,
 					0,
@@ -311,50 +310,55 @@ public void computeNodeOffset(BoneType nodeOffset) {
 					0
 				);
 				break;
-			case KNEE_TRACKER:
+			case LEFT_KNEE_TRACKER:
+			case RIGHT_KNEE_TRACKER:
 				setNodeOffset(nodeOffset, 0, 0, -getConfig(SkeletonConfigValue.SKELETON_OFFSET));
 				break;
-			case LOWER_LEG:
+			case LEFT_LOWER_LEG:
+			case RIGHT_LOWER_LEG:
 				setNodeOffset(
 					nodeOffset,
 					0,
 					-getConfig(SkeletonConfigValue.KNEE_HEIGHT),
-					-getConfig(SkeletonConfigValue.FOOT_OFFSET)
+					-getConfig(SkeletonConfigValue.FOOT_SHIFT)
 				);
 				break;
-			case FOOT:
+			case LEFT_FOOT:
+			case RIGHT_FOOT:
 				setNodeOffset(nodeOffset, 0, 0, -getConfig(SkeletonConfigValue.FOOT_LENGTH));
 				break;
-			case FOOT_TRACKER:
+			case LEFT_FOOT_TRACKER:
+			case RIGHT_FOOT_TRACKER:
 				setNodeOffset(nodeOffset, 0, 0, -getConfig(SkeletonConfigValue.SKELETON_OFFSET));
 				break;
-
-			case CONTROLLER:
+			case LEFT_CONTROLLER:
+			case RIGHT_CONTROLLER:
 				setNodeOffset(
 					nodeOffset,
 					0,
 					getConfig(SkeletonConfigValue.CONTROLLER_DISTANCE_Y),
 					getConfig(SkeletonConfigValue.CONTROLLER_DISTANCE_Z)
 				);
 				break;
-			case HAND:
+			case LEFT_HAND:
+			case RIGHT_HAND:
 				setNodeOffset(
 					nodeOffset,
 					0,
 					-getConfig(SkeletonConfigValue.CONTROLLER_DISTANCE_Y),
 					-getConfig(SkeletonConfigValue.CONTROLLER_DISTANCE_Z)
 				);
 				break;
-			case LOWER_ARM:
+			case LEFT_LOWER_ARM:
+			case RIGHT_LOWER_ARM:
 				setNodeOffset(nodeOffset, 0, getConfig(SkeletonConfigValue.LOWER_ARM_LENGTH), 0);
 				break;
-			case LOWER_ARM_HMD:
-				setNodeOffset(nodeOffset, 0, -getConfig(SkeletonConfigValue.LOWER_ARM_LENGTH), 0);
-				break;
-			case ELBOW_TRACKER:
+			case LEFT_ELBOW_TRACKER:
+			case RIGHT_ELBOW_TRACKER:
 				setNodeOffset(nodeOffset, 0, getConfig(SkeletonConfigValue.ELBOW_OFFSET), 0);
 				break;
-			case UPPER_ARM:
+			case LEFT_UPPER_ARM:
+			case RIGHT_UPPER_ARM:
 				setNodeOffset(nodeOffset, 0, -getConfig(SkeletonConfigValue.UPPER_ARM_LENGTH), 0);
 				break;
 			case LEFT_SHOULDER: