Adjustmed trackers pass all tests

SlimeVR · Jul 25, 2021 · e248cca · e248cca
1 parent 89ee978
commit e248cca
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Showing 3 changed files with 5 additions and 10 deletions.
diff --git a/src/main/java/io/eiren/vr/Main.java b/src/main/java/io/eiren/vr/Main.java
@@ -5,13 +5,13 @@
 import io.eiren.gui.VRServerGUI;
 import io.eiren.util.logging.LogManager;
 
-
 public class Main {
 
-	public static String VERSION = "0.0.10";
+	public static String VERSION = "0.0.11";
 
 	public static VRServer vrServer;
 
+	@SuppressWarnings("unused")
 	public static void main(String[] args) {
 		System.setProperty("awt.useSystemAAFontSettings", "on");
 		System.setProperty("swing.aatext", "true");

diff --git a/src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java b/src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java
@@ -46,9 +46,6 @@ public void saveConfig(TrackerConfig config) {
 	public void resetFull(Quaternion reference) {
 		Quaternion sensorRotation = new Quaternion();
 		tracker.getRotation(sensorRotation);
-		//float[] angles = new float[3];
-		//sensorRotation.toAngles(angles);
-		//sensorRotation.fromAngles(angles[0], 0, angles[2]);
 		adjustmentAttachment.set(sensorRotation).inverseLocal();
 
 		resetYaw(reference);
@@ -71,8 +68,7 @@ public void resetYaw(Quaternion reference) {
 
 		Quaternion sensorRotation = new Quaternion();
 		tracker.getRotation(sensorRotation);
-		adjustmentAttachment.mult(sensorRotation, sensorRotation);
-		//sensorRotation.multLocal(adjustmentAttachment);
+		sensorRotation.multLocal(adjustmentAttachment);
 
 		sensorRotation.toAngles(angles);
 		sensorRotation.fromAngles(0, angles[1], 0);
@@ -83,8 +79,7 @@ public void resetYaw(Quaternion reference) {
 	}
 
 	protected void adjustInternal(Quaternion store) {
-		//store.multLocal(adjustmentAttachment);
-		adjustmentAttachment.mult(store, store);
+		store.multLocal(adjustmentAttachment);
 		adjustmentYaw.mult(store, store);
 	}
 

diff --git a/src/test/java/io/eiren/unit/ReferenceAdjustmentsTests.java b/src/test/java/io/eiren/unit/ReferenceAdjustmentsTests.java
@@ -162,7 +162,7 @@ private void testAdjustedTrackerRotation(Quaternion trackerQuat, int refPitch, i
 	}
 
 	private static String name(int yaw, int pitch, int roll, float[] angles, float[] anglesAdj, float[] anglesDiff) {
-		return "Rot: " + yaw + "/" + pitch + ". "
+		return "Rot: " + yaw + "/" + pitch + "/" + roll + ". "
 				+ "Angles: " + StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[0] * FastMath.RAD_TO_DEG, 1) + ", "
 				+ StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[1] * FastMath.RAD_TO_DEG, 1) + ", "
 				+ StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[2] * FastMath.RAD_TO_DEG, 1) + ". Diff: "