Fix acceleration adjustement and add to visualizer

gui/src/components/widgets/IMUVisualizerWidget.tsx

@@ -5,11 +5,12 @@ import { Typography } from '../commons/Typography';
 import { formatVector3 } from '../../utils/formatting';
 import { Canvas, useLoader } from '@react-three/fiber';
 import * as THREE from 'three';
-import { PerspectiveCamera } from 'three';
+import { PerspectiveCamera, Vector3 } from 'three';
 import { Button } from '../commons/Button';
 import { QuatObject } from '../../maths/quaternion';
 import { useLocalization } from '@fluent/react';
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader';
+import { Vector3Object } from '../../maths/vector3';
 
 const groundColor = '#4444aa';
 
@@ -25,10 +26,12 @@ export function TrackerModel({ model }: { model: string }) {
 }
 
 function SceneRenderer({
-  quat: { x, y, z, w },
+  quat,
+  vec,
   model,
 }: {
   quat: QuatObject;
+  vec: Vector3Object;
   model: string;
 }) {
   return (
@@ -41,11 +44,33 @@ function SceneRenderer({
     >
       <ambientLight intensity={0.5} />
       <spotLight position={[20, 20, 20]} angle={0.09} penumbra={1} />
-      <group quaternion={new THREE.Quaternion(x, y, z, w)}>
+      <group quaternion={new THREE.Quaternion(quat.x, quat.y, quat.z, quat.w)}>
         <TrackerModel model={model}></TrackerModel>
         <axesHelper args={[10]} />
       </group>
 
+      <arrowHelper
+        args={[
+          new Vector3(-Math.sign(vec.x), 0, 0),
+          new Vector3(0, 0, 0),
+          Math.sqrt(Math.abs(vec.x)) * 2,
+        ]}
+      />
+      <arrowHelper
+        args={[
+          new Vector3(0, Math.sign(vec.y), 0),
+          new Vector3(0, 0, 0),
+          Math.sqrt(Math.abs(vec.y)) * 2,
+        ]}
+      />
+      <arrowHelper
+        args={[
+          new Vector3(0, 0, -Math.sign(vec.z)),
+          new Vector3(0, 0, 0),
+          Math.sqrt(Math.abs(vec.z)) * 2,
+        ]}
+      />
+
       <mesh position={[0, -3, 0]} rotation={[-Math.PI / 2, 0, 0]}>
         <planeGeometry args={[50, 50, 10, 10]} />
         <meshBasicMaterial
@@ -82,6 +107,10 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
     tracker?.rotationIdentityAdjusted ||
     tracker?.rotation ||
     new THREE.Quaternion();
+  const vec =
+    tracker?.linearAcceleration ||
+    tracker?.rawAcceleration ||
+    new THREE.Vector3();
 
   return (
     <div className="bg-background-70 flex flex-col p-3 rounded-lg gap-2">
@@ -127,6 +156,7 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
           </Button>
           <SceneRenderer
             quat={{ ...quat }}
+            vec={{ ...vec }}
             model={
               isExtension ? '/models/extension.gltf' : '/models/tracker.gltf'
             }

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

@@ -292,15 +292,14 @@ class Tracker @JvmOverloads constructor(
 	}
 
 	/**
-	 * Gets the adjusted tracker acceleration after mounting corrections.
+	 * Gets the world-adjusted acceleration
 	 */
 	fun getAcceleration(): Vector3 {
-		var vec = acceleration
-		if (needsReset) {
-			vec = resetsHandler.getMountingAdjustedRotationFrom(rotation).sandwich(vec)
+		return if (needsReset) {
+			resetsHandler.getReferenceAdjustedAccel(rotation, acceleration)
+		} else {
+			acceleration
 		}
-
-		return vec
 	}
 
 	/**

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

@@ -111,10 +111,10 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	}
 
 	/**
-	 * Takes a rotation and adjusts it to mounting
+	 * Get the adjusted accel from yawFixZeroReference
 	 */
-	fun getMountingAdjustedRotationFrom(rotation: Quaternion): Quaternion {
-		return rotation * mountingOrientation * mountRotFix
+	fun getReferenceAdjustedAccel(rawRot: Quaternion, accel: Vector3): Vector3 {
+		return (adjustToReference(rawRot) / yawFix).sandwich(accel)
 	}
 
 	/**

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

@@ -9,6 +9,7 @@ import io.eiren.util.Util
 import io.eiren.util.collections.FastList
 import io.eiren.util.logging.LogManager
 import io.github.axisangles.ktmath.Quaternion.Companion.fromRotationVector
+import io.github.axisangles.ktmath.Vector3
 import org.apache.commons.lang3.ArrayUtils
 import solarxr_protocol.rpc.ResetType
 import java.net.DatagramPacket
@@ -276,7 +277,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				tracker = connection?.getTracker(packet.sensorId)
 				if (tracker == null) return
 				var rot17 = packet.rotation
-				rot17 = AXES_OFFSET.times(rot17)
+				rot17 = AXES_OFFSET * rot17
 				when (packet.dataType) {
 					UDPPacket17RotationData.DATA_TYPE_NORMAL -> {
 						tracker.setRotation(rot17)
@@ -297,7 +298,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 			is UDPPacket4Acceleration -> {
 				tracker = connection?.getTracker(packet.sensorId)
 				if (tracker == null) return
-				tracker.setAcceleration(packet.acceleration)
+				// Switch x and y around to adjust for different axes
+				tracker.setAcceleration(Vector3(packet.acceleration.y, packet.acceleration.x, packet.acceleration.z))
 			}
 			is UDPPacket10PingPong -> {
 				if (connection == null) return