From d3f90b84048fadfe054424c8012cf77297dddfc0 Mon Sep 17 00:00:00 2001
From: Erimel <marioluigivideo@gmail.com>
Date: Thu, 15 Feb 2024 19:23:54 -0500
Subject: [PATCH] show drift compensation in tracker preview (#937)

---
 .../java/dev/slimevr/tracking/trackers/Tracker.kt    |  8 ++++----
 .../tracking/trackers/TrackerResetsHandler.kt        | 12 +++++-------
 2 files changed, 9 insertions(+), 11 deletions(-)

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
index 2e56843464..46bf7f27de 100644
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
@@ -284,7 +284,7 @@ class Tracker @JvmOverloads constructor(
 	 * Gets the adjusted tracker rotation after all corrections
 	 * (filtering, reset, mounting and drift compensation).
 	 * This is the rotation that is applied on the SlimeVR skeleton bones.
-	 * Warning: This may perform several Quaternion multiplications, so calling
+	 * Warning: This performs several Quaternion multiplications, so calling
 	 * it too much should be avoided for performance reasons.
 	 */
 	fun getRotation(): Quaternion {
@@ -316,8 +316,8 @@ class Tracker @JvmOverloads constructor(
 	}
 
 	/**
-	 * Gets the identity-adjusted tracker rotation after some corrections
-	 * (filtering, identity reset and identity mounting).
+	 * Gets the identity-adjusted tracker rotation after corrections
+	 * (filtering, identity reset, drift and identity mounting).
 	 * This is used for debugging/visualizing tracker data
 	 */
 	fun getIdentityAdjustedRotation(): Quaternion {
@@ -331,7 +331,7 @@ class Tracker @JvmOverloads constructor(
 
 		if (needsReset && trackerPosition != TrackerPosition.HEAD) {
 			// Adjust to reset and mounting
-			rot = resetsHandler.getIdentityAdjustedRotationFrom(rot)
+			rot = resetsHandler.getIdentityAdjustedDriftRotationFrom(rot)
 		}
 
 		return rot
diff --git a/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt b/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt
index ea1c27952a..87cb36c50d 100644
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt
@@ -113,17 +113,15 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * and drift compensation, with the HMD as the reference.
 	 */
 	fun getReferenceAdjustedDriftRotationFrom(rotation: Quaternion): Quaternion {
-		var rot = adjustToReference(rotation)
-		rot = adjustToDrift(rot)
-		return rot
+		return adjustToDrift(adjustToReference(rotation))
 	}
 
 	/**
 	 * Takes a rotation and adjusts it to resets and mounting,
 	 * with the identity Quaternion as the reference.
 	 */
-	fun getIdentityAdjustedRotationFrom(rotation: Quaternion): Quaternion {
-		return adjustToIdentity(rotation)
+	fun getIdentityAdjustedDriftRotationFrom(rotation: Quaternion): Quaternion {
+		return adjustToDrift(adjustToIdentity(rotation))
 	}
 
 	/**
@@ -235,8 +233,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 
 		calculateDrift(rot)
 
-		// Let's just remove the status if you do yaw reset if the tracker was
-		// disconnected and then connected back
+		// Remove the status if yaw reset was performed after the tracker
+		// was disconnected and connected.
 		if (this.tracker.lastResetStatus != 0u && this.tracker.statusResetRecently) {
 			VRServer.instance.statusSystem.removeStatus(this.tracker.lastResetStatus)
 			this.tracker.statusResetRecently = false