Plugin/Source/SenseGloveCore/Private/SGCore/SGBasicHandModel.cpp

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2022 SenseGlove
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @section DESCRIPTION
 *
 *
 */


#include "SGCore/SGBasicHandModel.h"

#include "Runtime/Launch/Resources/Version.h"

#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGInterop/SGIC_ESGFinger.h"
#include "SGInterop/SGIC_FQuat.h"
#include "SGInterop/SGIC_FSGBasicHandModelImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_FVector.h"
#include "SGInterop/SGIC_TArray_float.h"
#include "SGInterop/SGIC_TArray_FQuat.h"
#include "SGInterop/SGIC_TArray_FVector.h"
#include "SGInterop/SGIC_TArray_TArray_float.h"

struct USGBasicHandModel::FImpl
{
    /************************
     * Member variables
     ************************/

    FSGBasicHandModelImpl BasicHandModelImpl;

    /************************
     * Owner object
     ************************/

    USGBasicHandModel* Owner;

    /************************
     * Constructor / Destructor
     ************************/

    explicit FImpl(USGBasicHandModel* InOwner);
    ~FImpl();

    /************************
     * Default copy constructor & copy assignment operator
     ************************/

    FImpl(const FImpl& Rhs) = default;
    FImpl& operator=(const FImpl& Rhs) = default;

    /************************
     * Methods
     ************************/

    void SyncUProperties();
    void SyncImplObject();
};

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const FSGBasicHandModelImpl& BasicHandModelImpl)
{
    USGBasicHandModel* Instance = NewObject<USGBasicHandModel>(Outer);
    Instance->SetBasicHandModelImpl(BasicHandModelImpl);
    return Instance;
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    SGCoreImpl_FSGBasicHandModelImpl_ctor(&OutBasicHandModelImplContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const bool bRightHanded,
                                                        const TArray<TArray<float>>& Lengths,
                                                        const TArray<FVector>& StartPositions)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{Lengths};
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPosition(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer, &StartPositionsContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const bool bRightHanded,
                                                        const TArray<FSGFloatArray>& Lengths,
                                                        const TArray<FVector>& StartPositions)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{
        FSGArrayUtils::FromNestedBPArray<float, FSGFloatArray, &FSGFloatArray::FloatArray>(Lengths)
    };
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPosition(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer, &StartPositionsContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const bool bRightHanded,
                                                        const TArray<TArray<float>>& Lengths,
                                                        const TArray<FVector>& StartPositions,
                                                        const TArray<FQuat>& StartRotations)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{Lengths};
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{StartRotations};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const bool bRightHanded,
                                                        const TArray<TArray<float>>& Lengths,
                                                        const TArray<FVector>& StartPositions,
                                                        const TArray<FRotator>& StartRotations)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{Lengths};
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{FSGArrayUtils::RotatorsToQuats(StartRotations)};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const bool bRightHanded,
                                                        const TArray<FSGFloatArray>& Lengths,
                                                        const TArray<FVector>& StartPositions,
                                                        const TArray<FQuat>& StartRotations)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{
        FSGArrayUtils::FromNestedBPArray<float, FSGFloatArray, &FSGFloatArray::FloatArray>(Lengths)
    };
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{StartRotations};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::NewBasicHandModel(UObject* Outer, const bool bRightHanded,
                                                        const TArray<FSGFloatArray>& Lengths,
                                                        const TArray<FVector>& StartPositions,
                                                        const TArray<FRotator>& StartRotations)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{
        FSGArrayUtils::FromNestedBPArray<float, FSGFloatArray, &FSGFloatArray::FloatArray>(Lengths)
    };
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{FSGArrayUtils::RotatorsToQuats(StartRotations)};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::Default(UObject* Outer, const bool bRightHanded)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    SGCoreImpl_FSGBasicHandModelImpl_Default(&OutBasicHandModelImplContainer, bRightHanded);
    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl));
}

USGBasicHandModel* USGBasicHandModel::Deserialize(UObject* Outer, const FString& SerializedString)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelContainer;
    FSGIC_FString SerializedStringContainer{SerializedString};
    SGCoreImpl_FSGBasicHandModelImpl_Deserialize(&OutBasicHandModelContainer, &SerializedStringContainer);
    return NewBasicHandModel(Outer, MoveTemp(OutBasicHandModelContainer.BasicHandModelImpl));;
}

TArray<TArray<float>> USGBasicHandModel::GetBaseFingerLengths()
{
    FSGIC_TArray_TArray_float OutLengthsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetBaseFingerLengths(&OutLengthsContainer);
    return MoveTemp(OutLengthsContainer.Array);
}

TArray<FVector> USGBasicHandModel::GetBaseJointPositions()
{
    FSGIC_TArray_FVector OutPositionsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetBaseJointPositions(&OutPositionsContainer);
    return MoveTemp(OutPositionsContainer.Array);
}

TArray<FVector> USGBasicHandModel::GetBaseJointAngles()
{
    FSGIC_TArray_FVector OutRotationsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetBaseJointAngles(&OutRotationsContainer);
    return MoveTemp(OutRotationsContainer.Array);
}

USGBasicHandModel::USGBasicHandModel()
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    SGCoreImpl_FSGBasicHandModelImpl_ctor(&OutBasicHandModelImplContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(const bool bRightHanded, const TArray<TArray<float>>& Lengths,
                                     const TArray<FVector>& StartPositions)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{Lengths};
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPosition(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer, &StartPositionsContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
                                     const TArray<FVector>& StartPositions)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{
        FSGArrayUtils::FromNestedBPArray<float, FSGFloatArray, &FSGFloatArray::FloatArray>(Lengths)
    };
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPosition(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer, &StartPositionsContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(const bool bRightHanded, const TArray<TArray<float>>& Lengths,
                                     const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{Lengths};
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{StartRotations};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(const bool bRightHanded, const TArray<TArray<float>>& Lengths,
                                     const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{Lengths};
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{FSGArrayUtils::RotatorsToQuats(StartRotations)};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(const bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
                                     const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{
        FSGArrayUtils::FromNestedBPArray<float, FSGFloatArray, &FSGFloatArray::FloatArray>(Lengths)
    };
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{StartRotations};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(const bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
                                     const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelImplContainer;
    FSGIC_TArray_TArray_float LengthsContainer{
        FSGArrayUtils::FromNestedBPArray<float, FSGFloatArray, &FSGFloatArray::FloatArray>(Lengths)
    };
    FSGIC_TArray_FVector StartPositionsContainer{StartPositions};
    FSGIC_TArray_FQuat StartRotationsContainer{FSGArrayUtils::RotatorsToQuats(StartRotations)};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_bRightHanded_Lengths_StartPositions_StartRotations(
        &OutBasicHandModelImplContainer, bRightHanded, &LengthsContainer,
        &StartPositionsContainer, &StartRotationsContainer);

    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelImplContainer.BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::USGBasicHandModel(const FSGBasicHandModelImpl& BasicHandModelImpl)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    SetBasicHandModelImpl(BasicHandModelImpl);
    Pimpl->SyncUProperties();
}

USGBasicHandModel::~USGBasicHandModel() = default;

void USGBasicHandModel::SetBasicHandModelImpl(const FSGBasicHandModelImpl& BasicHandModelImpl)
{
    FSGIC_FSGBasicHandModelImpl OutBasicHandModelContainer;
    FSGIC_FSGBasicHandModelImpl RhsContainer{BasicHandModelImpl};
    SGCoreImpl_FSGBasicHandModelImpl_ctor_copy(&OutBasicHandModelContainer, &RhsContainer);
    Pimpl->BasicHandModelImpl = MoveTemp(OutBasicHandModelContainer.BasicHandModelImpl);
}

const FSGBasicHandModelImpl& USGBasicHandModel::ToBasicHandModelImpl() const
{
    Pimpl->SyncImplObject();
    return Pimpl->BasicHandModelImpl;
}

FSGBasicHandModelImpl& USGBasicHandModel::ToBasicHandModelImpl()
{
    Pimpl->SyncImplObject();
    return Pimpl->BasicHandModelImpl;
}

bool USGBasicHandModel::IsRight() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    return SGCoreImpl_FSGBasicHandModelImpl_IsRight(&InstanceContainer);
}

TArray<TArray<float>> USGBasicHandModel::GetFingerLengths() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_TArray_float OutLengthsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetFingerLengths(&InstanceContainer, &OutLengthsContainer);
    return MoveTemp(OutLengthsContainer.Array);
}

TArray<float> USGBasicHandModel::GetFingerLengths(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_float OutLengthsContainer;
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_GetFingerLengths_Finger(&InstanceContainer, &OutLengthsContainer,
                                                             &FingerContainer);
    return MoveTemp(OutLengthsContainer.Array);
}

void USGBasicHandModel::SetFingerLengths(const ESGFinger Finger, const TArray<float>& Lengths)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    FSGIC_TArray_float LengthsContainer{Lengths};
    SGCoreImpl_FSGBasicHandModelImpl_SetFingerLengths_ESGFinger(&InstanceContainer, &FingerContainer,
                                                                &LengthsContainer);

    Pimpl->SyncUProperties();
}

void USGBasicHandModel::SetFingerLengths(const uint8 Finger, const TArray<float>& Lengths)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_float LengthsContainer{Lengths};
    SGCoreImpl_FSGBasicHandModelImpl_SetFingerLengths_uint8Finger(&InstanceContainer, Finger, &LengthsContainer);

    Pimpl->SyncUProperties();
}

TArray<TArray<float>> USGBasicHandModel::GetFingerRatios() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_TArray_float OutRatiosContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetFingerRatios(&InstanceContainer, &OutRatiosContainer);
    return MoveTemp(OutRatiosContainer.Array);
}

TArray<float> USGBasicHandModel::GetFingerRatios(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    FSGIC_TArray_float OutRatiosContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetFingerRatios_Finger(&InstanceContainer, &OutRatiosContainer,
                                                            &FingerContainer);
    return MoveTemp(OutRatiosContainer.Array);
}

TArray<FVector> USGBasicHandModel::GetStartJointPositions() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_FVector OutPositionsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetStartJointPositions(&InstanceContainer, &OutPositionsContainer);
    return MoveTemp(OutPositionsContainer.Array);
}

void USGBasicHandModel::SetStartJointPosition(const ESGFinger Finger, const FVector& Position)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    FSGIC_FVector PositionContainer{Position};
    SGCoreImpl_FSGBasicHandModelImpl_SetStartJointPosition_ESGFinger(&InstanceContainer, &FingerContainer,
                                                                     &PositionContainer);

    Pimpl->SyncUProperties();
}

void USGBasicHandModel::SetStartJointPosition(const uint8 Finger, const FVector& Position)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FVector PositionContainer{Position};
    SGCoreImpl_FSGBasicHandModelImpl_SetStartJointPosition_uin8Finger(&InstanceContainer, Finger, &PositionContainer);

    Pimpl->SyncUProperties();
}

TArray<FQuat> USGBasicHandModel::GetStartJointRotationsQ() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_FQuat OutRotationsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetStartJointRotations(&InstanceContainer, &OutRotationsContainer);
    return MoveTemp(OutRotationsContainer.Array);
}

TArray<FRotator> USGBasicHandModel::GetStartJointRotations() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_FQuat OutRotationsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetStartJointRotations(&InstanceContainer, &OutRotationsContainer);
    return FSGArrayUtils::QuatsToRotators(OutRotationsContainer.Array);
}

FVector USGBasicHandModel::GetJointPosition(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FVector OutPositionContainer;
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_GetJointPosition(&InstanceContainer, &OutPositionContainer, &FingerContainer);

    return MoveTemp(OutPositionContainer.Vector);
}

void USGBasicHandModel::SetJointPosition(const FVector& NewPosition, const ESGFinger Finger)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FVector NewPositionContainer{NewPosition};
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_SetJointPosition(&InstanceContainer, &NewPositionContainer, &FingerContainer);

    Pimpl->SyncUProperties();
}

FQuat USGBasicHandModel::GetJointRotationQ(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FQuat OutRotationContainer;
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_GetJointRotation(&InstanceContainer, &OutRotationContainer, &FingerContainer);

    return MoveTemp(OutRotationContainer.Quat);
}

FRotator USGBasicHandModel::GetJointRotation(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FQuat OutRotationContainer;
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_GetJointRotation(&InstanceContainer, &OutRotationContainer, &FingerContainer);

    return OutRotationContainer.Quat.Rotator();
}

void USGBasicHandModel::SetJointRotation(const FQuat& NewRotation, const ESGFinger Finger)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FQuat NewRotationContainer{NewRotation};
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_SetJointRotation(&InstanceContainer, &NewRotationContainer, &FingerContainer);

    Pimpl->SyncUProperties();
}

void USGBasicHandModel::SetJointRotation(const FRotator& NewRotation, const ESGFinger Finger)
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FQuat NewRotationContainer{NewRotation.Quaternion()};
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_SetJointRotation(&InstanceContainer, &NewRotationContainer, &FingerContainer);

    Pimpl->SyncUProperties();
}

TArray<float> USGBasicHandModel::GetTotalLengths() const
{
    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_float OutLengthsContainer;
    SGCoreImpl_FSGBasicHandModelImpl_GetTotalLengths(&InstanceContainer, &OutLengthsContainer);
    return MoveTemp(OutLengthsContainer.Array);
}

float USGBasicHandModel::GetTotalLength(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    return SGCoreImpl_FSGBasicHandModelImpl_GetTotalLength(&InstanceContainer, &FingerContainer);
}

TArray<FVector> USGBasicHandModel::Get3DLengths(const ESGFinger Finger) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_TArray_FVector OutLengthsContainer;
    FSGIC_ESGFinger FingerContainer{Finger};
    SGCoreImpl_FSGBasicHandModelImpl_Get3DLengths(&InstanceContainer, &OutLengthsContainer,
                                                  &FingerContainer);
    return MoveTemp(OutLengthsContainer.Array);
}

bool USGBasicHandModel::Equals(const USGBasicHandModel* BasicHandModel) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FSGBasicHandModelImpl BasicHandModelContainer{BasicHandModel->ToBasicHandModelImpl()};
    return SGCoreImpl_FSGBasicHandModelImpl_Equals(&InstanceContainer, &BasicHandModelContainer);
}

FString USGBasicHandModel::ToString() const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FString OutStringContainer;
    SGCoreImpl_FSGBasicHandModelImpl_ToString(&InstanceContainer, &OutStringContainer);
    return MoveTemp(OutStringContainer.String);
}

FString USGBasicHandModel::ToString(const bool bLengthsOnly) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FString OutStringContainer;
    SGCoreImpl_FSGBasicHandModelImpl_ToString_bLengthsOnly(&InstanceContainer, &OutStringContainer, bLengthsOnly);
    return MoveTemp(OutStringContainer.String);
}

FString USGBasicHandModel::SGSerialize() const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGBasicHandModelImpl InstanceContainer{ToBasicHandModelImpl()};
    FSGIC_FString OutStringContainer;
    SGCoreImpl_FSGBasicHandModelImpl_Serialize(&InstanceContainer, &OutStringContainer);
    return MoveTemp(OutStringContainer.String);
}

USGBasicHandModel::FImpl::FImpl(USGBasicHandModel* InOwner)
    : Owner(InOwner)
{
}

USGBasicHandModel::FImpl::~FImpl() = default;

void USGBasicHandModel::FImplDeleter::operator()(const FImpl* P) const
{
    delete P;
}

void USGBasicHandModel::FImpl::SyncUProperties()
{
}

void USGBasicHandModel::FImpl::SyncImplObject()
{
}