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Positional tracker support#920

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Stermere wants to merge 68 commits intoSlimeVR:mainSlimeVR/SlimeVR-Server:mainfrom Stermere:IKSolverStermere/SlimeVR-Server-legTweaks:IKSolverCopy head branch name to clipboard

+904-40

Commits

Commits on Oct 30, 2024

• commit starting code

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  533750b

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• more bug fixes

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  624628c

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• it works!

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  607fb3b

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• simplify forward pass

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  09dbb0d

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• remove pointless class

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  d34b1e5

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• add Constraint

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  4bcac94

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• Make Constraint abstract to allow multiple constraint types to be added

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  bd41b5a

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• bug fixes and move classes to own file

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  a57191d

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• add constraints to each bone

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  1ceba55

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• bug fixes + use quat lib projection

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  36b69a0

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• add apply Constraint Inverse

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  8606c0e

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• bug fixes + make vars private

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  96638dc

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• fix centroid deadlocking

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  17abee4

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• modify applyConstraint + add CompleteConstraint

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  16fb03e

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• spotless

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  20e4505

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• add allowModification to Constraint

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  a80d7fd

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• add locking of rotation on bones where a rotation tracker is present

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  70f3259

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• account for bone.rotationOffset + change input to constrainRotation

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  cb69dd3

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• fix constrain function

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  6e3eb0f

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• formatting + add position offset at time of reset

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  fd5363f

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• update skeletal constraints

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  e5d237c

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• spotless

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  0c60b7a

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• add base constraint offset cause its actually needed

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  a8ca8f8

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• fix bug where a constrained sub-base being unable to solve would affect later chain's ability to reach the target.

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  16771d4

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• fix bug where a chain would jitter if in reach of the target but unable to solve due to join restrictions

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  7ec4368

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• small things

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  a879967

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• Add IKConstraint

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  66b3967

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• Reduce IKSolver control in the spine area

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  57e732b

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• Allow deviation from rotational constraints if the chains cannot solve

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  dfb048a

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• Update loosening to be more selective and fix chain builder bug

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  1d5a1a5

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• Fix bugs, remove unused code

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  025a3ac

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• change imports

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  ac4fb46

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• make spotless happy

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  bdedcb0

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• Fix bug causing NULL Quaternion

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  7af8d66

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• pause ikSolver

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  597bd28

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• small formatting things

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  97e60a3

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• change math

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  e2480e3

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• Add toggle for using position information

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  e8a41bb

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• Fix lint

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  30f0e4b

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• Refactor and simplify constraints

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  26e6150

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• simplify loosening logic

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  d28a209

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• Fix trackers being assigned a bone when they are unassigned

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  d78e9ca

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• save state before switching it CCDIK

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  bccaf78

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• switch from FABRIK to CCDIK

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  0c00385

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• reduce jitter further

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  0aaab71

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• Tuning and better chain control

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  0a9d3ff

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• fix bugs

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  41e242d

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• Fix hinge constraint bugs and add annealing

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  9bf1b98

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• Update server/core/src/main/java/dev/slimevr/tracking/processor/Constraint.kt

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  ImUrX

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  7e1d1c6

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• Format fixes

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  1b87235

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• Enforce constraints bidirectionally

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  465e27c

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• Add upper elbow

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  3b05952

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• small fixes + optimization

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  b377c99

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• Enforce constraints within the skeleton

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  b9d206d

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• formmating

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  0bf893e

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• Correct for constrain violation

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  5f47860

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• fix bugs, add loose hinge constraint

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  e02461d

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• Formatting

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  7e6ec3a

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• Increase hinge constraint loose-ness

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  5529474

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• fix decomposition

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  cbacad9

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• Add toggles for enabling skeleton constraints

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  d4450dc

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• lint

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  69d28ca

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• fix IK breaking at 180 degree rotations relative to the parent

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  7d02d7d

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• Adjust hand constraints and fix constraint corrections interaction with ik solver

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  c69d301

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• Add target and end effector offset to improve solver stability

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  60b7b52

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• spotless

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  da67cd8

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• Always use constraints in iksolver

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  3701865

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• Update solarxr-protocol

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  75c3289

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