Don't filter non-temporal trackers (#1255)

SlimeVR · Jan 2, 2025 · 4e698b6 · 4e698b6
1 parent 0eb81ee
commit 4e698b6
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Showing 3 changed files with 27 additions and 15 deletions.
diff --git a/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrames.kt b/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrames.kt
@@ -41,6 +41,7 @@ data class TrackerFrames(val name: String = "", val frames: FastList<TrackerFram
 			// Make sure this is false!! Otherwise HumanSkeleton ignores it
 			isInternal = false,
 			isComputed = true,
+			trackRotDirection = false,
 		)
 
 		tracker.status = TrackerStatus.OK

diff --git a/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt b/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
@@ -67,6 +67,12 @@ class Tracker @JvmOverloads constructor(
 	val needsReset: Boolean = false,
 	val needsMounting: Boolean = false,
 	val isHmd: Boolean = false,
+	/**
+	 * Whether to track the direction of the tracker's rotation
+	 * (positive vs negative rotation). This needs to be disabled for AutoBone and
+	 * unit tests, where the rotation is absolute and not temporal.
+	 */
+	val trackRotDirection: Boolean = true,
 	magStatus: MagnetometerStatus = MagnetometerStatus.NOT_SUPPORTED,
 	/**
 	 * Rotation by default.
@@ -310,7 +316,9 @@ class Tracker @JvmOverloads constructor(
 	fun dataTick() {
 		timer.update()
 		timeAtLastUpdate = System.currentTimeMillis()
-		filteringHandler.dataTick(_rotation)
+		if (trackRotDirection) {
+			filteringHandler.dataTick(_rotation)
+		}
 	}
 
 	/**
@@ -320,6 +328,19 @@ class Tracker @JvmOverloads constructor(
 		timeAtLastUpdate = System.currentTimeMillis()
 	}
 
+	private fun getFilteredRotation(): Quaternion = if (trackRotDirection) {
+		if (filteringHandler.filteringEnabled) {
+			// Get filtered rotation
+			filteringHandler.getFilteredRotation()
+		} else {
+			// Get unfiltered rotation
+			filteringHandler.getTrackedRotation()
+		}
+	} else {
+		// Get raw rotation
+		_rotation
+	}
+
 	/**
 	 * Gets the adjusted tracker rotation after all corrections
 	 * (filtering, reset, mounting and drift compensation).
@@ -328,13 +349,7 @@ class Tracker @JvmOverloads constructor(
 	 * it too much should be avoided for performance reasons.
 	 */
 	fun getRotation(): Quaternion {
-		var rot = if (allowFiltering && filteringHandler.filteringEnabled) {
-			// Get filtered rotation
-			filteringHandler.getFilteredRotation()
-		} else {
-			// Get unfiltered rotation
-			filteringHandler.getTrackedRotation()
-		}
+		var rot = getFilteredRotation()
 
 		// Reset if needed and is not computed and internal
 		if (needsReset && !(isComputed && isInternal) && trackerDataType == TrackerDataType.ROTATION) {
@@ -360,13 +375,7 @@ class Tracker @JvmOverloads constructor(
 	 * This is used for debugging/visualizing tracker data
 	 */
 	fun getIdentityAdjustedRotation(): Quaternion {
-		var rot = if (filteringHandler.filteringEnabled) {
-			// Get filtered rotation
-			filteringHandler.getFilteredRotation()
-		} else {
-			// Get unfiltered rotation
-			filteringHandler.getTrackedRotation()
-		}
+		var rot = getFilteredRotation()
 
 		// Reset if needed or is a computed tracker besides head
 		if (needsReset && !(isComputed && trackerPosition != TrackerPosition.HEAD) && trackerDataType == TrackerDataType.ROTATION) {

diff --git a/server/core/src/test/java/dev/slimevr/unit/MountingResetTests.kt b/server/core/src/test/java/dev/slimevr/unit/MountingResetTests.kt
@@ -46,6 +46,7 @@ class MountingResetTests {
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 			needsMounting = true,
+			trackRotDirection = false,
 		)
 
 		// Apply full reset and mounting
@@ -130,6 +131,7 @@ class MountingResetTests {
 			imuType = IMUType.UNKNOWN,
 			needsReset = true,
 			needsMounting = true,
+			trackRotDirection = false,
 		)
 
 		// Apply full reset and mounting