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add missing sense glove wrappers in layer 1/2/3/4 of the api and also more documentation

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This commit is contained in:
Mamadou Babaei
2022-11-18 15:01:53 +01:00
parent 37b30cd099
commit 8e86d9f656
10 changed files with 546 additions and 27 deletions
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Source/SenseGloveCoreKismet/Private/SGCoreKismet/SGSenseGloveKismetLibrary.cpp
+13
View File
@@ -239,6 +239,19 @@ bool USGSenseGloveKismetLibrary::GetHandPose_HP_OutHP(
return SenseGlove->GetHandPose(WorldContextObject, HandProfile, OutHandPose);
}
bool USGSenseGloveKismetLibrary::SendHaptics_FFC_BC_ESGSenseGloveThumperCommand_TC(
USGSenseGlove* SenseGlove,
const USGForceFeedbackCommand* ForceFeedbackCommand, const USGBuzzCommand* BuzzCommand,
ESGSenseGloveThumperCommand ThumperCommand)
{
return SenseGlove->SendHaptics(ForceFeedbackCommand, BuzzCommand, ThumperCommand);
}
bool USGSenseGloveKismetLibrary::SendHaptics_TC(USGSenseGlove* SenseGlove, ESGSenseGloveThumperCommand ThumperCommand)
{
return SenseGlove->SendHaptics(ThumperCommand);
}
void USGSenseGloveKismetLibrary::SendHaptics_FFC(USGSenseGlove* SenseGlove,
const USGForceFeedbackCommand* ForceFeedbackCommand)
{
Source/SenseGloveCoreKismet/Public/SGCoreKismet/SGSenseGloveKismetLibrary.h
+164 -1
View File
@@ -29,7 +29,8 @@
*
* @section DESCRIPTION
*
*
* An interface for the Sense Glove exoskeleton glove.
* Contains methods for Kinematics, Haptics and Serialization.
*/
@@ -50,30 +51,52 @@ class USGDevice;
class USGForceFeedbackCommand;
class USGSenseGlove;
/**
* Interface for the Sense Glove; and exoskeleton Force-Feedback glove.
*/
UCLASS(meta=(ScriptName = "SesneGloveSenseGloveKismetLibrary"))
class SENSEGLOVECOREKISMET_API USGSenseGloveKismetLibrary final : public USGBlueprintFunctionLibrary
{
GENERATED_BODY()
public:
/**
* Byte indicating a new Sense Glove haptic command.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove")
static FString GetHapticsByte();
/**
* Byte indicating a new Thumper command.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove")
static FString GetThumperByte();
/**
* Calculates a GlovePose based on sensor angles and a glove model.
*
* @remarks Use this when you already have gloveAngles collected.
*/
UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static USGSenseGlovePose* CalculateGlovePose_SD_GM(
UObject* WorldContextObject,
const USGSenseGloveSensorData* SensorData, const USGSenseGloveInfo* GloveModel);
/**
* Calculates a GlovePose based on gloveAngles and a glove model.
*
* @remarks Use this when you already have gloveAngles collected.
*/
UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static USGSenseGlovePose* CalculateGlovePose_GA_GM(
UObject* WorldContextObject,
const TArray<FSGVectorArray>& GloveAngles, const USGSenseGloveInfo* GloveModel);
/**
* @remarks Use this when you already have a GlovePose.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static USGHandPose* CalculateHandPose(
@@ -81,31 +104,52 @@ public:
const USGSenseGlovePose* GlovePose, const USGBasicHandModel* HandModel,
const USGSenseGloveHandProfile* Profile);
/**
* Deserializes a Sense Glove from its ConstantsString. Returns a nullptr if unsuccessful.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static USGDevice* Parse(UObject* WorldContextObject, const FString& ConstantsString);
/**
* Retrieve all Sense Gloves connected to this system.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static TArray<USGSenseGlove*> GetSenseGloves(UObject* WorldContextObject);
/**
* Retrieve the first connected Sense Glove there is.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Sense Glove", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetSenseGlove_OutG(UObject* WorldContextObject, USGSenseGlove*& OutGlove);
/**
* Retrieve the first (connected) right or left handed sense glove.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Sense Glove", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetSenseGlove_bRH_OutG(UObject* WorldContextObject, bool bRightHanded, USGSenseGlove*& OutGlove);
/**
* Convert a SenseGlove GlovePose into calibrationValues.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Calibration Values", Category="SenseGlove | Core | SG | Sense Glove")
static TArray<FVector> GetCalibrationValues_GlovePose(const USGSenseGlovePose* GlovePose);
/**
* Apply interpolation values to the correct fields in the SenseGlove Profile, based on min/max sensor values.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static void CalibrateInterpolation(UObject* WorldContextObject,
const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
bool bRightHanded, USGSenseGloveHandProfile*& OutProfile);
/**
* Retrieve the location of the glove origin, based on a reference location without requiring an object reference.
*/
UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Location",
Category="SenseGlove | Core | SG | Sense Glove")
static void CalculateGloveLocation_RP_FQuat_RR_TH_bRH_MO_OutGP_FQuat_OutGR(
@@ -113,6 +157,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, ESGFinger MountedOn,
FVector& OutGlovePosition, FQuat& OutGloveRotation);
/**
* Retrieve the location of the glove origin, based on a reference location without requiring an object reference.
*/
UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Location",
Category="SenseGlove | Core | SG | Sense Glove")
static void CalculateGloveLocation_RP_FRotator_RR_TH_bRH_MO_OutGP_FRotator_OutGR(
@@ -120,6 +167,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, ESGFinger MountedOn,
FVector& OutGlovePosition, FRotator& OutGloveRotation);
/**
* Calculates the full wrist location.
*/
UFUNCTION(BlueprintCallable, DisplayName="Calculate Wrist Location",
Category="SenseGlove | Core | SG | Sense Glove")
static void CalculateWristLocation_RP_FQuat_RR_TH_bRH_MO_GWPOffset_FQuat_GWRO_OutWP_FQuat_OutWR(
@@ -128,6 +178,9 @@ public:
const FVector& GloveWristPositionOffset, const FQuat& GloveWristRotationOffset,
FVector& OutWristPosition, FQuat& OutWristRotation);
/**
* Calculates the full wrist location.
*/
UFUNCTION(BlueprintCallable, DisplayName="Calculate Wrist Location",
Category="SenseGlove | Core | SG | Sense Glove")
static void CalculateWristLocation_RP_FRotator_RR_TH_bRH_MO_GWPOffset_FRotator_GWRO_OutWP_FRotator_OutWR(
@@ -136,43 +189,81 @@ public:
const FVector& GloveWristPositionOffset, const FRotator& GloveWristRotationOffset,
FVector& OutWristPosition, FRotator& OutWristRotation);
/**
* Retrieve this glove's hardware model, which contains its hardware data.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove", meta=(WorldContext="WorldContextObject"))
static USGSenseGloveInfo* GetGloveModel(UObject* WorldContextObject, const USGSenseGlove* SenseGlove);
/**
* Check if this Sense Glove is right handed.
*
* @remarks While the variable is stored in SG_GloveModel, added direct access here since its frequently used.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static bool IsRight(const USGSenseGlove* SenseGlove);
/**
* Get the DeviceType enumerator of this SenseGlove, used in DeviceList enumeration.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static ESGDeviceType GetDeviceType(const USGSenseGlove* SenseGlove);
/**
* Retrieve this Sense Glove's unique identifier.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static FString GetDeviceId(const USGSenseGlove* SenseGlove);
/**
* Retrieve this glove's hardware (sub) version.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static FString GetHardwareVersion(const USGSenseGlove* SenseGlove);
/**
* Retrieve this device's firmware version.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static int32 GetFirmwareVersion(const USGSenseGlove* SenseGlove);
/**
* Retrieve this device's sub-firmware version.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static int32 GetSubFirmwareVersion(const USGSenseGlove* SenseGlove);
/**
* Get the latest Sensor Data from this Sense Glove.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove", meta=(WorldContext="WorldContextObject"))
static bool GetSensorData(UObject* WorldContextObject,
const USGSenseGlove* SenseGlove, USGSenseGloveSensorData*& OutSensorData);
/**
*
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | SG | Sense Glove")
static bool GetImuRotation_FQuat_OutI(UPARAM(ref) USGSenseGlove* SenseGlove, FQuat& OutImu);
/**
*
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | SG | Sense Glove")
static bool GetImuRotation_FRotator_OutI(UPARAM(ref) USGSenseGlove* SenseGlove, FRotator& OutImu);
/**
* Get the pose of this Sense Glove's hardware, based on its latest Sensor Data.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Glove Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetGlovePose_OutGP(UObject* WorldContextObject,
UPARAM(ref) USGSenseGlove* SenseGlove,
USGSenseGlovePose*& OutGlovePose);
/**
* Get the pose of this Sense Glove's hardware based on a set of Sensor Data.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Glove Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetGlovePose_SD_OutGP(UObject* WorldContextObject,
@@ -180,6 +271,9 @@ public:
const USGSenseGloveSensorData* SensorData,
USGSenseGlovePose*& OutGlovePose);
/**
* Retrieve a new hand pose using this glove's data, based on (calibrated) user data.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetHandPose_HM_P_OutHP(UObject* WorldContextObject,
@@ -188,6 +282,9 @@ public:
const USGSenseGloveHandProfile* Profile,
USGHandPose*& OutHandPose);
/**
* Calculate the Hand Pose of this device, provided it has Hand Tracking available.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetHandPose_HG_HP_OutHP(UObject* WorldContextObject,
@@ -196,6 +293,9 @@ public:
const USGHandProfile* HandProfile,
USGHandPose*& OutHandPose);
/**
* Calculate the HandPose of this Device, taking into account user values, but not hand geometry.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static bool GetHandPose_HP_OutHP(UObject* WorldContextObject,
@@ -203,13 +303,37 @@ public:
const USGHandProfile* HandProfile,
USGHandPose*& OutHandPose);
/**
* Set the level(s) of Force and Vibrotactile feedback, with an optional thumper command.
*/
UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | SG | Sense Glove")
static bool SendHaptics_FFC_BC_ESGSenseGloveThumperCommand_TC(
UPARAM(ref) USGSenseGlove* SenseGlove,
const USGForceFeedbackCommand* ForceFeedbackCommand, const USGBuzzCommand* BuzzCommand,
ESGSenseGloveThumperCommand ThumperCommand = ESGSenseGloveThumperCommand::None);
/**
* Send a thumper command.
*/
UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | SG | Sense Glove")
static bool SendHaptics_TC(UPARAM(ref) USGSenseGlove* SenseGlove, ESGSenseGloveThumperCommand ThumperCommand);
/**
* Send Haptic Commands to this Glove.
*/
UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | SG | Sense Glove")
static void SendHaptics_FFC(UPARAM(ref) USGSenseGlove* SenseGlove,
const USGForceFeedbackCommand* ForceFeedbackCommand);
/**
* Send Haptic Commands to this Glove.
*/
UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | SG | Sense Glove")
static void SendHaptics_BC(UPARAM(ref) USGSenseGlove* SenseGlove, const USGBuzzCommand* BuzzCommand);
/**
* Retrieve this device's firmware version.
*/
UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | SG | Sense Glove")
static void SendHaptics_FFC_BC_TC(
UPARAM(ref) USGSenseGlove* SenseGlove,
@@ -217,24 +341,39 @@ public:
const USGBuzzCommand* BuzzCommand,
const USGThumperCommand* ThumperCommand);
/**
* Retrieve calibration values of this glove, as an array of size 5, containing x (roll), y (flexion), z (abduction) values.
*/
UFUNCTION(BlueprintCallable, DisplayName="Get Calibration Values", Category="SenseGlove | Core | SG | Sense Glove")
static bool GetCalibrationValues_OutV(UPARAM(ref) USGSenseGlove* SenseGlove, TArray<FVector>& OutValues);
/**
* Reset the glove's calibration range.
*/
UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove")
static void ResetCalibrationRange(UPARAM(ref) USGSenseGlove* SenseGlove);
/**
* Apply this glove's calibration range to a handProfile.
*/
UFUNCTION(BlueprintPure, DisplayName="Apply Calibration", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static void ApplyCalibration_USGHandProfile_OutP(UObject* WorldContextObject,
const USGSenseGlove* SenseGlove,
USGHandProfile*& OutProfile);
/**
* Apply this glove's calibration range to a SenseGloveHandProfile.
*/
UFUNCTION(BlueprintPure, DisplayName="Apply Calibration", Category="SenseGlove | Core | SG | Sense Glove",
meta=(WorldContext="WorldContextObject"))
static void ApplyCalibration_USGSenseGloveHandProfile_OutP(UObject* WorldContextObject,
const USGSenseGlove* SenseGlove,
USGSenseGloveHandProfile*& OutProfile);
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetGloveLocation_RP_FQuat_RR_TH_OutGP_FQuat_OutGR(
const USGSenseGlove* SenseGlove,
@@ -242,6 +381,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutGlovePosition, FQuat& OutGloveRotation);
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetGloveLocation_RP_FRotator_RR_TH_OutGP_FRotator_OutGR(
const USGSenseGlove* SenseGlove,
@@ -249,6 +391,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutGlovePosition, FRotator& OutGloveRotation);
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetGloveLocation_RP_FQuat_RR_TH_MO_OutGP_FQuat_OutGR(
const USGSenseGlove* SenseGlove,
@@ -256,6 +401,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
FVector& OutGlovePosition, FQuat& OutGloveRotation);
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetGloveLocation_RP_FRotator_RR_TH_MO_OutGP_FRotator_OutGR(
const USGSenseGlove* SenseGlove,
@@ -263,6 +411,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
FVector& OutGlovePosition, FRotator& OutGloveRotation);
/**
* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetWristLocation_RP_FQuat_RR_TH_OutWP_FQuat_OutWR(
const USGSenseGlove* SenseGlove,
@@ -270,6 +421,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutWristPosition, FQuat& OutWristRotation);
/**
* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetWristLocation_RP_FRotator_RR_TH_OutWP_FRotator_OutWR(
const USGSenseGlove* SenseGlove,
@@ -277,6 +431,9 @@ public:
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutWristPosition, FRotator& OutWristRotation);
/**
* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetWristLocation_RP_FQuat_RR_TH_GWPO_FQuat_GWRO_OutWP_FQuat_OutWR(
const USGSenseGlove* SenseGlove,
@@ -286,6 +443,9 @@ public:
const FQuat& GloveWristRotationOffset,
FVector& OutWristPosition, FQuat& OutWristRotation);
/**
* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
*/
UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | SG | Sense Glove")
static void GetWristLocation_RP_FRotator_RR_TH_GWPO_FRotator_GWRO_OutWP_FRotator_OutWR(
const USGSenseGlove* SenseGlove,
@@ -295,6 +455,9 @@ public:
const FRotator& GloveWristRotationOffset,
FVector& OutWristPosition, FRotator& OutWristRotation);
/**
* Create a string representation of this device for reporting purposes.
*/
UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove")
static FString ToString(const USGSenseGlove* SenseGlove);
};