Basic motion compensation

gui/public/i18n/en/translation.ftl

@@ -44,6 +44,7 @@ body_part-LEFT_HAND = Left hand
 body_part-LEFT_UPPER_LEG = Left thigh
 body_part-LEFT_LOWER_LEG = Left ankle
 body_part-LEFT_FOOT = Left foot
+body_part-PLAYSPACE = Playspace (motion compensation)
 
 ## Proportions
 skeleton_bone-NONE = None

gui/src/components/commons/BodyPartIcon.tsx

@@ -86,6 +86,9 @@ export const mapPart: Record<
     <UpperLegIcon width={width} flipped></UpperLegIcon>
   ),
   [BodyPart.WAIST]: ({ width }) => <WaistIcon width={width}></WaistIcon>,
+  [BodyPart.PLAYSPACE]: ({ width }) => (
+    <SlimeVRIcon width={width}></SlimeVRIcon>
+  ), // TODO
 };
 
 export function BodyPartIcon({

gui/src/components/onboarding/BodyAssignment.tsx

@@ -307,6 +307,16 @@ export function BodyAssignment({
                 onClick={() => onRoleSelected(SIDES[right].foot)}
                 direction="left"
               />
+              {advanced && (
+                <TrackerPartCard
+                  onlyAssigned={onlyAssigned}
+                  roleError={rolesWithErrors[BodyPart.PLAYSPACE]?.label}
+                  td={trackerPartGrouped[BodyPart.PLAYSPACE]}
+                  role={BodyPart.PLAYSPACE}
+                  onClick={() => onRoleSelected(BodyPart.PLAYSPACE)}
+                  direction="left"
+                />
+              )}
             </div>
           </div>
         }

gui/src/components/onboarding/pages/mounting/MountingSelectionMenu.tsx

@@ -99,6 +99,7 @@ export const mapPart: Record<
       <FootIcon width={width} flipped></FootIcon>
     ),
   [BodyPart.WAIST]: ({ width }) => <FootIcon width={width}></FootIcon>,
+  [BodyPart.PLAYSPACE]: ({ width }) => <FootIcon width={width}></FootIcon>,
 };
 
 export function MountingBodyPartIcon({

gui/src/utils/skeletonHelper.ts

@@ -185,6 +185,7 @@ export class BoneKind extends Bone {
 
   get boneColor(): Color {
     switch (this.boneT.bodyPart) {
+      case BodyPart.PLAYSPACE:
       case BodyPart.NONE:
         throw 'Unexpected body part';
       case BodyPart.HEAD:
@@ -230,6 +231,7 @@ export class BoneKind extends Bone {
 
   static children(part: BodyPart): BodyPart[] {
     switch (part) {
+      case BodyPart.PLAYSPACE:
       case BodyPart.NONE:
         throw 'Unexpected body part';
       case BodyPart.HEAD:
@@ -283,6 +285,7 @@ export class BoneKind extends Bone {
 
   static parent(part: BodyPart): BodyPart | null {
     switch (part) {
+      case BodyPart.PLAYSPACE:
       case BodyPart.NONE:
         throw 'Unexpected body part';
       case BodyPart.HEAD:

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

@@ -69,12 +69,19 @@ class Bone(val boneType: BoneType) {
 	fun getLocalRotation(): Quaternion = headNode.localTransform.rotation
 
 	/**
-	 * Sets the global rotation of the bone
+	 * Sets the global rotation of the bone with the rotationOffset
 	 */
 	fun setRotation(rotation: Quaternion) {
 		headNode.localTransform.rotation = rotation * rotationOffset
 	}
 
+	/**
+	 * Sets the global rotation of the bone
+	 */
+	fun setRawRotation(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/HumanPoseManager.kt

@@ -342,7 +342,7 @@ class HumanPoseManager(val server: VRServer?) {
 	 */
 	val trackersToReset: List<Tracker?>
 		get() =
-			server?.allTrackers ?: skeleton.localTrackers
+			server?.allTrackers ?: skeleton.trackersToReset
 
 	/**
 	 * @return the head bone, which is the root of the skeleton

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

@@ -103,6 +103,7 @@ class HumanSkeleton(
 	var rightHandTracker: Tracker? = null
 	var leftShoulderTracker: Tracker? = null
 	var rightShoulderTracker: Tracker? = null
+	var playspaceTracker: Tracker? = null
 
 	// Output trackers
 	var computedHeadTracker: Tracker? = null
@@ -278,6 +279,7 @@ class HumanSkeleton(
 		rightHandTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_HAND)
 		leftShoulderTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_SHOULDER)
 		rightShoulderTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_SHOULDER)
+		playspaceTracker = getTrackerForSkeleton(trackers, TrackerPosition.PLAYSPACE)
 
 		// Check for specific conditions and store them in booleans.
 		hasSpineTracker = upperChestTracker != null || chestTracker != null || waistTracker != null || hipTracker != null
@@ -354,18 +356,45 @@ class HumanSkeleton(
 	 */
 	@VRServerThread
 	fun updatePose() {
+		// Check taps for resets
 		tapDetectionManager.update()
 
+		// Do FK
 		updateTransforms()
+
+		// Update bones and output trackers
 		updateBones()
 		updateComputedTrackers()
 
 		// Don't run post-processing if the tracking is paused
 		if (pauseTracking) return
 
+		// Run Legtweaks
 		legTweaks.tweakLegs()
+
+		// Run Mocap mode
 		localizer.update()
+
+		// Run Vive hip emulation
 		viveEmulation.update()
+
+		// Playspace motion compensation
+		playspaceTracker?.let {
+			if (it.hasRotation) {
+				val motionCompensationRotOffset = it.getRotation().inv()
+				for (bone in allBones) {
+					bone.setRawRotation(motionCompensationRotOffset * bone.getLocalRotation())
+				}
+			}
+			if (it.hasPosition) {
+				// TODO motion compensate for position as well?
+				// headBone.setPosition(headBone.getPosition() - it.position)
+			}
+
+			// Update bones and output trackers
+			updateBones()
+			updateComputedTrackers()
+		}
 	}
 
 	/**
@@ -390,6 +419,7 @@ class HumanSkeleton(
 
 		// Spine
 		updateSpineTransforms()
+
 		// Left leg
 		updateLegTransforms(
 			leftUpperLegBone,
@@ -401,6 +431,7 @@ class HumanSkeleton(
 			leftLowerLegTracker,
 			leftFootTracker,
 		)
+
 		// Right leg
 		updateLegTransforms(
 			rightUpperLegBone,
@@ -412,6 +443,7 @@ class HumanSkeleton(
 			rightLowerLegTracker,
 			rightFootTracker,
 		)
+
 		// Left arm
 		updateArmTransforms(
 			isTrackingLeftArmFromController,
@@ -426,6 +458,7 @@ class HumanSkeleton(
 			leftLowerArmTracker,
 			leftHandTracker,
 		)
+
 		// Right arm
 		updateArmTransforms(
 			isTrackingRightArmFromController,
@@ -982,6 +1015,34 @@ class HumanSkeleton(
 			rightHandBone,
 		)
 
+	/**
+	 * Returns an array of all the bones, trackers or not
+	 */
+	private val allBones: Array<Bone>
+		get() = arrayOf(
+			headBone,
+			neckBone,
+			headTrackerBone,
+			upperChestBone,
+			chestBone,
+			chestTrackerBone,
+			waistBone,
+			hipBone,
+			hipTrackerBone,
+			leftHipBone,
+			rightHipBone,
+			leftUpperLegBone,
+			leftKneeTrackerBone,
+			rightUpperLegBone,
+			rightKneeTrackerBone,
+			leftLowerLegBone,
+			rightLowerLegBone,
+			leftFootBone,
+			leftFootTrackerBone,
+			rightFootBone,
+			rightFootTrackerBone,
+		) + allArmBones
+
 	/**
 	 * Returns all the arm bones, tracker or not.
 	 */
@@ -1023,7 +1084,7 @@ class HumanSkeleton(
 	 */
 	val isTrackingRightArmFromController: Boolean
 		get() = rightHandTracker != null && rightHandTracker!!.hasPosition && !forceArmsFromHMD
-	val localTrackers: List<Tracker?>
+	val trackersToReset: List<Tracker?>
 		get() = listOf(
 			neckTracker,
 			chestTracker,
@@ -1046,22 +1107,23 @@ class HumanSkeleton(
 		)
 
 	fun resetTrackersFull(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
-
-		// Resets all axis of the trackers with the HMD as reference.
 		var referenceRotation = IDENTITY
+		// Reset the head tracker from identity if needed, else store its rotation
 		headTracker?.let {
 			if (it.needsReset) {
 				it.resetsHandler.resetFull(referenceRotation)
 			} else {
 				referenceRotation = it.getRotation()
 			}
 		}
+		// Resets the trackers with the HMD as reference.
 		for (tracker in trackersToReset) {
 			if (tracker != null && tracker.needsReset) {
 				tracker.resetsHandler.resetFull(referenceRotation)
 			}
 		}
+		// Reset the playspace tracker from identity rotation
+		playspaceTracker?.resetsHandler?.resetFull(IDENTITY)
 
 		// Tell floorclip to reset its floor level on the next update
 		// of the computed trackers
@@ -1075,53 +1137,53 @@ class HumanSkeleton(
 
 	@VRServerThread
 	fun resetTrackersYaw(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
-
-		// Resets the yaw of the trackers with the head as reference.
 		var referenceRotation = IDENTITY
+		// Reset the head tracker from identity if needed, else store its rotation
 		headTracker?.let {
 			if (it.needsReset) {
 				it.resetsHandler.resetYaw(referenceRotation)
 			} else {
 				referenceRotation = it.getRotation()
 			}
 		}
+		// Resets the trackers with the HMD as reference.
 		for (tracker in trackersToReset) {
 			if (tracker != null && tracker.needsReset) {
 				tracker.resetsHandler.resetYaw(referenceRotation)
 			}
 		}
+		// Reset the playspace tracker from identity rotation
+		playspaceTracker?.resetsHandler?.resetYaw(IDENTITY)
+
 		legTweaks.resetBuffer()
 		LogManager.info(String.format("[HumanSkeleton] Reset: yaw (%s)", resetSourceName))
 	}
 
 	@VRServerThread
 	fun resetTrackersMounting(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
-
-		// Resets the mounting orientation of the trackers with the HMD as
-		// reference.
 		var referenceRotation = IDENTITY
+		// Reset the head tracker from identity if needed, else store its rotation
 		headTracker?.let {
 			if (it.needsMounting) {
 				it.resetsHandler.resetMounting(referenceRotation)
 			} else {
 				referenceRotation = it.getRotation()
 			}
 		}
+		// Resets the trackers with the HMD as reference.
 		for (tracker in trackersToReset) {
 			if (tracker != null && tracker.needsMounting) {
 				tracker.resetsHandler.resetMounting(referenceRotation)
 			}
 		}
+
 		legTweaks.resetBuffer()
 		localizer.reset()
 		LogManager.info(String.format("[HumanSkeleton] Reset: mounting (%s)", resetSourceName))
 	}
 
 	@VRServerThread
 	fun clearTrackersMounting(resetSourceName: String?) {
-		val trackersToReset = humanPoseManager.trackersToReset
 		headTracker?.let {
 			if (it.needsMounting) it.resetsHandler.clearMounting()
 		}

server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerPosition.kt

@@ -36,6 +36,7 @@ enum class TrackerPosition(
 	RIGHT_HAND("body:right_hand", TrackerRole.RIGHT_HAND, BodyPart.RIGHT_HAND),
 	LEFT_SHOULDER("body:left_shoulder", TrackerRole.LEFT_SHOULDER, BodyPart.LEFT_SHOULDER),
 	RIGHT_SHOULDER("body:right_shoulder", TrackerRole.RIGHT_SHOULDER, BodyPart.RIGHT_SHOULDER),
+	PLAYSPACE("body:playspace", null, BodyPart.PLAYSPACE),
 	;
 
 	/**