Remove last remnants of drift compensation

Author: ButterscotchV

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

@@ -270,7 +270,7 @@ class Tracker @JvmOverloads constructor(
 
 	/**
 	 * Gets the adjusted tracker rotation after the resetsHandler's corrections
-	 * (reset, mounting and drift compensation).
+	 * (reset and mounting).
 	 * This is the rotation that is applied on the SlimeVR skeleton bones.
 	 * Warning: This performs several Quaternion multiplications, so calling
 	 * it too much should be avoided for performance reasons.
@@ -285,7 +285,7 @@ class Tracker @JvmOverloads constructor(
 
 		// Reset if needed and is not computed and internal
 		return if (allowReset && !(isComputed && isInternal) && trackerDataType == TrackerDataType.ROTATION) {
-			// Adjust to reset, mounting and drift compensation
+			// Adjust to reset and mounting
 			resetsHandler.getReferenceAdjustedRotationFrom(rot)
 		} else {
 			rot
@@ -305,7 +305,7 @@ class Tracker @JvmOverloads constructor(
 
 		// Reset if needed and is not computed and internal
 		return if (allowReset && !(isComputed && isInternal) && trackerDataType == TrackerDataType.ROTATION) {
-			// Adjust to reset, mounting and drift compensation
+			// Adjust to reset and mounting
 			resetsHandler.getReferenceAdjustedRotationFrom(rot)
 		} else {
 			rot
@@ -314,7 +314,7 @@ class Tracker @JvmOverloads constructor(
 
 	/**
 	 * Gets the identity-adjusted tracker rotation after the resetsHandler's corrections
-	 * (identity reset, drift and identity mounting).
+	 * (identity reset and identity mounting).
 	 * This is used for debugging/visualizing tracker data
 	 */
 	fun getIdentityAdjustedRotation(): Quaternion {

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

@@ -10,7 +10,7 @@ import io.github.axisangles.ktmath.Quaternion
 import io.github.axisangles.ktmath.Vector3
 import kotlin.math.*
 
-/** Class taking care of full reset, yaw reset, mounting reset, and drift compensation logic. */
+/** Class taking care of full reset, yaw reset, and mounting reset logic. */
 class TrackerResetsHandler(val tracker: Tracker) {
 
 	private val HalfHorizontal = EulerAngles(
@@ -187,9 +187,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			Quaternion.IDENTITY
 		}
 
-		// Old rot for drift compensation
-		val oldRot = adjustToReference(tracker.getRawRotation())
-		lastResetQuaternion = oldRot
+		// Old rot for drift logging
+		lastResetQuaternion = adjustToReference(tracker.getRawRotation())
 
 		// Adjust raw rotation to mountingOrientation
 		val rotation = tracker.getRawRotation()
@@ -280,9 +279,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			return
 		}
 
-		// Old rot for drift compensation
-		val oldRot = adjustToReference(tracker.getRawRotation())
-		lastResetQuaternion = oldRot
+		// Old rot for drift logging
+		lastResetQuaternion = adjustToReference(tracker.getRawRotation())
 
 		val yawFixOld = yawFix
 		yawFix = fixYaw(tracker.getRawRotation(), reference)