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Reinstantiate QuaternionMovingAverage on reset #1283

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Reinstantiate QuaternionMovingAverage on reset #1283

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4d0f435
Reinstantiate QuaternionMovingAverage on reset
Erimelowo Jan 18, 2025
23118bd
Merge branch 'main' into centaur-fix-2
Erimelowo Jan 31, 2025
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20 changes: 8 additions & 12 deletions server/core/src/main/java/dev/slimevr/filtering/QuaternionMovingAverage.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ class QuaternionMovingAverage(
private var rotBuffer: CircularArrayList<Quaternion>? = null
private var latestQuaternion = IDENTITY
private var smoothingQuaternion = IDENTITY
private var temporalQuaternion = IDENTITY
private val fpsTimer = if (VRServer.instanceInitialized) VRServer.instance.fpsTimer else NanoTimer()
private var frameCounter = 0
private var lastAmt = 0f
Expand All @@ -50,7 +51,11 @@ class QuaternionMovingAverage(
predictFactor = PREDICT_MULTIPLIER * amount + PREDICT_MIN
rotBuffer = CircularArrayList(PREDICT_BUFFER)
}
resetQuats(initialRotation)

filteredQuaternion = initialRotation
latestQuaternion = initialRotation
smoothingQuaternion = initialRotation
temporalQuaternion = initialRotation
}

// Runs at up to 1000hz. We use a timer to make it framerate-independent
Expand Down Expand Up @@ -92,7 +97,7 @@ class QuaternionMovingAverage(
filteredQuaternion = smoothingQuaternion.interpR(latestQuaternion, amt)
} else {
// No filtering; just keep track of rotations (for going over 180 degrees)
filteredQuaternion = latestQuaternion.twinNearest(smoothingQuaternion)
filteredQuaternion = latestQuaternion.twinNearest(temporalQuaternion)
}

filteringImpact = latestQuaternion.angleToR(filteredQuaternion)
Expand All @@ -112,18 +117,9 @@ class QuaternionMovingAverage(
lastAmt = 0f
smoothingQuaternion = filteredQuaternion
} else {
smoothingQuaternion = filteredQuaternion
temporalQuaternion = filteredQuaternion
}

latestQuaternion = q
}

fun resetQuats(q: Quaternion) {
if (type == TrackerFilters.PREDICTION) {
rotBuffer?.clear()
latestQuaternion = q
}
filteredQuaternion = q
addQuaternion(q)
}
}
6 changes: 3 additions & 3 deletions server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFilteringHandler.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ import io.github.axisangles.ktmath.Quaternion
class TrackerFilteringHandler {
// Instantiated by default in case config doesn't get read (if tracker doesn't support filtering)
private var movingAverage = QuaternionMovingAverage(TrackerFilters.NONE)
var filteringEnabled = false
private var filteringEnabled = false

/**
* Reads/loads filtering settings from given config
Expand All @@ -28,7 +28,7 @@ class TrackerFilteringHandler {
)
filteringEnabled = true
} else {
movingAverage = QuaternionMovingAverage(TrackerFilters.NONE)
movingAverage = QuaternionMovingAverage(TrackerFilters.NONE, initialRotation = currentRawRotation)
filteringEnabled = false
}
}
Expand All @@ -51,7 +51,7 @@ class TrackerFilteringHandler {
* Call when doing a full reset to reset the tracking of rotations >180 degrees
*/
fun resetMovingAverage(currentRawRotation: Quaternion) {
movingAverage.resetQuats(currentRawRotation)
movingAverage = QuaternionMovingAverage(movingAverage.type, movingAverage.amount, currentRawRotation)
}

/**
Expand Down