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implement proper mm/cm conversions

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This commit is contained in:
Mamadou Babaei
2022-11-17 02:23:04 +01:00
parent 4903e11dee
commit aac0bb8a05
11 changed files with 248 additions and 168 deletions
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Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGBasicHandModelImpl.cpp
+29 -22
View File
@@ -93,7 +93,7 @@ FSGBasicHandModelImpl FSGBasicHandModelImpl::Deserialize(const FString& Serializ
const TArray<TArray<float>>& FSGBasicHandModelImpl::GetBaseFingerLengths() const TArray<TArray<float>>& FSGBasicHandModelImpl::GetBaseFingerLengths()
{ {
static const TArray<TArray<float>> BaseFingerLengths{ static const TArray<TArray<float>> BaseFingerLengths{
FSGArrayUtils::FromStdVector<float>( FSGArrayUtils::FromMillimeters(
FSGBasicHandModelImpl::FBasicHandModelType::GetBaseFingerLengths()) FSGBasicHandModelImpl::FBasicHandModelType::GetBaseFingerLengths())
}; };
return BaseFingerLengths; return BaseFingerLengths;
@@ -102,7 +102,7 @@ const TArray<TArray<float>>& FSGBasicHandModelImpl::GetBaseFingerLengths()
const TArray<FVector>& FSGBasicHandModelImpl::GetBaseJointPositions() const TArray<FVector>& FSGBasicHandModelImpl::GetBaseJointPositions()
{ {
static const TArray<FVector> BaseJointPositions{ static const TArray<FVector> BaseJointPositions{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FBasicHandModelType::GetBaseJointPositions()) FBasicHandModelType::GetBaseJointPositions())
}; };
return BaseJointPositions; return BaseJointPositions;
@@ -137,11 +137,12 @@ FSGBasicHandModelImpl::FSGBasicHandModelImpl(bool bRightHanded, const TArray<TAr
#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */ #endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
{ {
std::vector<std::vector<float>> LengthsVector{ std::vector<std::vector<float>> LengthsVector{
FSGArrayUtils::ToStdVector<float>(Lengths) FSGArrayUtils::ToMillimeters(Lengths)
}; };
std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{FSGArrayUtils::ToStdVector< std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(StartPositions)}; FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartPositions)
};
Pimpl->BasicHandModel = FSGBasicHandModelImpl::FBasicHandModelType(bRightHanded, MoveTemp(LengthsVector), Pimpl->BasicHandModel = FSGBasicHandModelImpl::FBasicHandModelType(bRightHanded, MoveTemp(LengthsVector),
MoveTemp(StartPositionsVector)); MoveTemp(StartPositionsVector));
@@ -157,14 +158,16 @@ FSGBasicHandModelImpl::FSGBasicHandModelImpl(bool bRightHanded, const TArray<TAr
#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */ #endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
{ {
std::vector<std::vector<float>> LengthsVector{ std::vector<std::vector<float>> LengthsVector{
FSGArrayUtils::ToStdVector<float>(Lengths) FSGArrayUtils::ToMillimeters(Lengths)
}; };
std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{FSGArrayUtils::ToStdVector< std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(StartPositions)}; FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartPositions)
};
std::vector<FSGQuatImpl::FQuatType> StartRotationsVector{FSGArrayUtils::ToStdVector< std::vector<FSGQuatImpl::FQuatType> StartRotationsVector{
FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(StartRotations)}; FSGArrayUtils::ToStdVector<FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(StartRotations)
};
Pimpl->BasicHandModel = FSGBasicHandModelImpl::FBasicHandModelType(bRightHanded, MoveTemp(LengthsVector), Pimpl->BasicHandModel = FSGBasicHandModelImpl::FBasicHandModelType(bRightHanded, MoveTemp(LengthsVector),
MoveTemp(StartPositionsVector), MoveTemp(StartPositionsVector),
@@ -280,7 +283,7 @@ TArray<float> FSGBasicHandModelImpl::GetFingerRatios(const ESGFinger Finger) con
TArray<FVector> FSGBasicHandModelImpl::GetStartJointPositions() const TArray<FVector> FSGBasicHandModelImpl::GetStartJointPositions() const
{ {
TArray<FVector> StartJointPositions{ TArray<FVector> StartJointPositions{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->BasicHandModel.GetStartJointPositions()) Pimpl->BasicHandModel.GetStartJointPositions())
}; };
return MoveTemp(StartJointPositions); return MoveTemp(StartJointPositions);
@@ -289,21 +292,23 @@ TArray<FVector> FSGBasicHandModelImpl::GetStartJointPositions() const
void FSGBasicHandModelImpl::SetStartJointPositions(const TArray<FVector>& StartJointPositions) void FSGBasicHandModelImpl::SetStartJointPositions(const TArray<FVector>& StartJointPositions)
{ {
std::vector<FSGVect3DImpl::FVect3DType> StartJointPositionsVector{ std::vector<FSGVect3DImpl::FVect3DType> StartJointPositionsVector{
FSGArrayUtils::ToStdVector< FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartJointPositions)
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(StartJointPositions)
}; };
Pimpl->BasicHandModel.SetStartJointPositions(MoveTemp(StartJointPositionsVector)); Pimpl->BasicHandModel.SetStartJointPositions(MoveTemp(StartJointPositionsVector));
} }
void FSGBasicHandModelImpl::SetStartJointPosition(ESGFinger Finger, const FVector& Position) void FSGBasicHandModelImpl::SetStartJointPosition(const ESGFinger Finger, const FVector& Position)
{ {
Pimpl->BasicHandModel.SetStartJointPosition(FSGCoreEnumCast::ToEFinger(Finger), Pimpl->BasicHandModel.SetStartJointPosition(
FSGVect3DImpl(Position).ToVect3D()); FSGCoreEnumCast::ToEFinger(Finger),
FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(Position));
} }
void FSGBasicHandModelImpl::SetStartJointPosition(const uint8 Finger, const FVector& Position) void FSGBasicHandModelImpl::SetStartJointPosition(const uint8 Finger, const FVector& Position)
{ {
Pimpl->BasicHandModel.SetStartJointPosition(Finger, FSGVect3DImpl(Position).ToVect3D()); Pimpl->BasicHandModel.SetStartJointPosition(
Finger,
FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(Position));
} }
TArray<FQuat> FSGBasicHandModelImpl::GetStartJointRotations() const TArray<FQuat> FSGBasicHandModelImpl::GetStartJointRotations() const
@@ -327,13 +332,15 @@ void FSGBasicHandModelImpl::SetStartJointRotations(const TArray<FQuat>& StartJoi
FVector FSGBasicHandModelImpl::GetJointPosition(const ESGFinger Finger) const FVector FSGBasicHandModelImpl::GetJointPosition(const ESGFinger Finger) const
{ {
const FSGVect3DImpl Position(Pimpl->BasicHandModel.GetJointPosition(FSGCoreEnumCast::ToEFinger(Finger))); return FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
return Position.ToFVector(); Pimpl->BasicHandModel.GetJointPosition(FSGCoreEnumCast::ToEFinger(Finger)));
} }
void FSGBasicHandModelImpl::SetJointPosition(const FVector& NewPosition, const ESGFinger Finger) void FSGBasicHandModelImpl::SetJointPosition(const FVector& NewPosition, const ESGFinger Finger)
{ {
Pimpl->BasicHandModel.SetJointPosition(FSGVect3DImpl(NewPosition).ToVect3D(), FSGCoreEnumCast::ToEFinger(Finger)); Pimpl->BasicHandModel.SetJointPosition(
FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(NewPosition),
FSGCoreEnumCast::ToEFinger(Finger));
} }
FQuat FSGBasicHandModelImpl::GetJointRotation(const ESGFinger Finger) const FQuat FSGBasicHandModelImpl::GetJointRotation(const ESGFinger Finger) const
@@ -364,7 +371,7 @@ float FSGBasicHandModelImpl::GetTotalLength(const ESGFinger Finger) const
TArray<FVector> FSGBasicHandModelImpl::Get3DLengths(const ESGFinger Finger) const TArray<FVector> FSGBasicHandModelImpl::Get3DLengths(const ESGFinger Finger) const
{ {
const TArray<FVector> Lengths{ const TArray<FVector> Lengths{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->BasicHandModel.Get3DLengths(FSGCoreEnumCast::ToEFinger(Finger))) Pimpl->BasicHandModel.Get3DLengths(FSGCoreEnumCast::ToEFinger(Finger)))
}; };
return Lengths; return Lengths;
@@ -403,4 +410,4 @@ FSGBasicHandModelImpl::FImpl::~FImpl() = default;
void FSGBasicHandModelImpl::FImplDeleter::operator()(const FImpl* P) const void FSGBasicHandModelImpl::FImplDeleter::operator()(const FImpl* P) const
{ {
delete P; delete P;
} }
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGHandPoseImpl.cpp
+4 -5
View File
@@ -155,7 +155,7 @@ FSGHandPoseImpl::FSGHandPoseImpl()
{ {
} }
FSGHandPoseImpl::FSGHandPoseImpl(bool bRightHanded, const TArray<TArray<FVector>>& JointPositions, FSGHandPoseImpl::FSGHandPoseImpl(const bool bRightHanded, const TArray<TArray<FVector>>& JointPositions,
const TArray<TArray<FQuat>>& JointRotations, const TArray<TArray<FVector>>& HandAngles) const TArray<TArray<FQuat>>& JointRotations, const TArray<TArray<FVector>>& HandAngles)
: :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) #if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 )
@@ -165,8 +165,7 @@ FSGHandPoseImpl::FSGHandPoseImpl(bool bRightHanded, const TArray<TArray<FVector>
#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */ #endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
{ {
std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{ std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(JointPositions)
JointPositions)
}; };
std::vector<std::vector<FSGQuatImpl::FQuatType>> JointRotationsVector{ std::vector<std::vector<FSGQuatImpl::FQuatType>> JointRotationsVector{
@@ -236,7 +235,7 @@ void FSGHandPoseImpl::SetIsRight(const bool bRightHanded) const
TArray<TArray<FVector>> FSGHandPoseImpl::GetJointPositions() const TArray<TArray<FVector>> FSGHandPoseImpl::GetJointPositions() const
{ {
TArray<TArray<FVector>> JointPositions{ TArray<TArray<FVector>> JointPositions{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->HandPose.GetJointPositions()) Pimpl->HandPose.GetJointPositions())
}; };
return MoveTemp(JointPositions); return MoveTemp(JointPositions);
@@ -245,7 +244,7 @@ TArray<TArray<FVector>> FSGHandPoseImpl::GetJointPositions() const
void FSGHandPoseImpl::SetJointPositions(const TArray<TArray<FVector>>& JointPositions) const void FSGHandPoseImpl::SetJointPositions(const TArray<TArray<FVector>>& JointPositions) const
{ {
std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{ std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
JointPositions) JointPositions)
}; };
Pimpl->HandPose.SetJointPositions(MoveTemp(JointPositionsVector)); Pimpl->HandPose.SetJointPositions(MoveTemp(JointPositionsVector));
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGHapticGloveImpl.cpp
+14 -10
View File
@@ -357,12 +357,14 @@ void FSGHapticGloveImpl::GetWristLocation(const FVector& ReferencePosition, cons
FSGVect3DImpl::FVect3DType WristPosition; FSGVect3DImpl::FVect3DType WristPosition;
FSGQuatImpl::FQuatType WristRotation; FSGQuatImpl::FQuatType WristRotation;
ToHapticGlovePtrChecked()->GetWristLocation(FSGVect3DImpl(ReferencePosition).ToVect3D(), ToHapticGlovePtrChecked()->GetWristLocation(
FSGQuatImpl(ReferenceRotation).ToQuat(), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGQuatImpl(ReferenceRotation).ToQuat(),
WristPosition, WristRotation); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
WristPosition, WristRotation);
OutWristPosition = FSGVect3DImpl(MoveTemp(WristPosition)).ToFVector(); OutWristPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(WristPosition));
OutWristRotation = FSGQuatImpl(MoveTemp(WristRotation)).ToFQuat(); OutWristRotation = FSGQuatImpl(MoveTemp(WristRotation)).ToFQuat();
} }
@@ -373,12 +375,14 @@ void FSGHapticGloveImpl::GetGloveLocation(const FVector& ReferencePosition, cons
FSGVect3DImpl::FVect3DType GlovePosition; FSGVect3DImpl::FVect3DType GlovePosition;
FSGQuatImpl::FQuatType GloveRotation; FSGQuatImpl::FQuatType GloveRotation;
ToHapticGlovePtrChecked()->GetGloveLocation(FSGVect3DImpl(ReferencePosition).ToVect3D(), ToHapticGlovePtrChecked()->GetGloveLocation(
FSGQuatImpl(ReferenceRotation).ToQuat(), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGQuatImpl(ReferenceRotation).ToQuat(),
GlovePosition, GloveRotation); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
GlovePosition, GloveRotation);
OutGlovePosition = FSGVect3DImpl(MoveTemp(GlovePosition)).ToFVector(); OutGlovePosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(GlovePosition));
OutGloveRotation = FSGQuatImpl(MoveTemp(GloveRotation)).ToFQuat(); OutGloveRotation = FSGQuatImpl(MoveTemp(GloveRotation)).ToFQuat();
} }
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGJointKinematicsImpl.cpp
+16 -12
View File
@@ -48,14 +48,18 @@ bool FSGJointKinematicsImpl::ForwardKinematics(const FVector& StartPosition, con
const TArray<FVector>& JointLengths, const TArray<FVector>& JointAngles, const TArray<FVector>& JointLengths, const TArray<FVector>& JointAngles,
TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations) TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
{ {
FSGVect3DImpl::FVect3DType StartPositionVect3D(FSGVect3DImpl(StartPosition).ToVect3D()); FSGVect3DImpl::FVect3DType StartPositionVect3D(
FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartPosition));
FSGQuatImpl::FQuatType StartRotationQuat(FSGQuatImpl(StartRotation).ToQuat()); FSGQuatImpl::FQuatType StartRotationQuat(FSGQuatImpl(StartRotation).ToQuat());
std::vector<FSGVect3DImpl::FVect3DType> JointLengthsVector{FSGArrayUtils::ToStdVector< std::vector<FSGVect3DImpl::FVect3DType> JointLengthsVector{
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(JointLengths)}; FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(JointLengths)
};
std::vector<FSGVect3DImpl::FVect3DType> JointAnglesVector{FSGArrayUtils::ToStdVector< std::vector<FSGVect3DImpl::FVect3DType> JointAnglesVector{
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(JointAngles)}; FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(
JointAngles)
};
std::vector<FSGVect3DImpl::FVect3DType> NewPositions; std::vector<FSGVect3DImpl::FVect3DType> NewPositions;
std::vector<FSGQuatImpl::FQuatType> NewRotations; std::vector<FSGQuatImpl::FQuatType> NewRotations;
@@ -65,20 +69,21 @@ bool FSGJointKinematicsImpl::ForwardKinematics(const FVector& StartPosition, con
MoveTemp(JointLengthsVector), MoveTemp(JointAnglesVector), MoveTemp(JointLengthsVector), MoveTemp(JointAnglesVector),
NewPositions, NewRotations); NewPositions, NewRotations);
OutNewPositions = FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, OutNewPositions = FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(NewPositions);;
FSGVect3DImpl, &FSGVect3DImpl::ToFVector>(NewPositions);;
OutNewRotations = FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat, OutNewRotations = FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat,
FSGQuatImpl, &FSGQuatImpl::ToFQuat>(NewRotations);; FSGQuatImpl, &FSGQuatImpl::ToFQuat>(NewRotations);;
return bResults; return bResults;
} }
bool FSGJointKinematicsImpl::ForwardKinematics(const FSGBasicHandModelImpl& Profile, ESGFinger Finger, bool FSGJointKinematicsImpl::ForwardKinematics(const FSGBasicHandModelImpl& Profile, const ESGFinger Finger,
const TArray<FVector>& JointAngles, const TArray<FVector>& JointAngles,
TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations) TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
{ {
std::vector<FSGVect3DImpl::FVect3DType> JointAnglesVector(FSGArrayUtils::ToStdVector< std::vector<FSGVect3DImpl::FVect3DType> JointAnglesVector{
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(JointAngles)); FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(
JointAngles)
};
std::vector<FSGVect3DImpl::FVect3DType> NewPositions; std::vector<FSGVect3DImpl::FVect3DType> NewPositions;
std::vector<FSGQuatImpl::FQuatType> NewRotations; std::vector<FSGQuatImpl::FQuatType> NewRotations;
@@ -87,8 +92,7 @@ bool FSGJointKinematicsImpl::ForwardKinematics(const FSGBasicHandModelImpl& Prof
Profile.ToBasicHandModel(), FSGCoreEnumCast::ToEFinger(Finger), MoveTemp(JointAnglesVector), Profile.ToBasicHandModel(), FSGCoreEnumCast::ToEFinger(Finger), MoveTemp(JointAnglesVector),
NewPositions, NewRotations); NewPositions, NewRotations);
OutNewPositions = FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, OutNewPositions = FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(NewPositions);;
FSGVect3DImpl, &FSGVect3DImpl::ToFVector>(NewPositions);;
OutNewRotations = FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat, OutNewRotations = FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat,
FSGQuatImpl, &FSGQuatImpl::ToFQuat>(NewRotations);; FSGQuatImpl, &FSGQuatImpl::ToFQuat>(NewRotations);;
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGNovaGloveImpl.cpp
+38 -22
View File
@@ -185,12 +185,16 @@ void FSGNovaGloveImpl::CalculateGloveLocation(const FVector& ReferencePosition,
{ {
FSGVect3DImpl::FVect3DType GlovePosition; FSGVect3DImpl::FVect3DType GlovePosition;
FSGQuatImpl::FQuatType GloveRotation; FSGQuatImpl::FQuatType GloveRotation;
FNovaGloveType::CalculateGloveLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), FNovaGloveType::CalculateGloveLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
bRightHanded, FSGQuatImpl{ReferenceRotation}.ToQuat(),
GlovePosition, GloveRotation); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
OutGlovePosition = FSGVect3DImpl{MoveTemp(GlovePosition)}.ToFVector(); bRightHanded,
GlovePosition, GloveRotation);
OutGlovePosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(GlovePosition));
OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat(); OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat();
} }
@@ -201,12 +205,16 @@ void FSGNovaGloveImpl::CalculateWristLocation(const FVector& ReferencePosition,
{ {
FSGVect3DImpl::FVect3DType WristPosition; FSGVect3DImpl::FVect3DType WristPosition;
FSGQuatImpl::FQuatType WristRotation; FSGQuatImpl::FQuatType WristRotation;
FNovaGloveType::CalculateWristLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), FNovaGloveType::CalculateWristLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
bRightHanded, FSGQuatImpl{ReferenceRotation}.ToQuat(),
WristPosition, WristRotation); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
OutWristPosition = FSGVect3DImpl{MoveTemp(WristPosition)}.ToFVector(); bRightHanded,
WristPosition, WristRotation);
OutWristPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(WristPosition));
OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat(); OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat();
} }
@@ -447,11 +455,15 @@ void FSGNovaGloveImpl::GetGloveLocation(const FVector& ReferencePosition, const
{ {
FSGVect3DImpl::FVect3DType GlovePosition; FSGVect3DImpl::FVect3DType GlovePosition;
FSGQuatImpl::FQuatType GloveRotation; FSGQuatImpl::FQuatType GloveRotation;
ToNovaGlovePtrChecked()->GetGloveLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), ToNovaGlovePtrChecked()->GetGloveLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
GlovePosition, GloveRotation); FSGQuatImpl{ReferenceRotation}.ToQuat(),
OutGlovePosition = FSGVect3DImpl{MoveTemp(GlovePosition)}.ToFVector(); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
GlovePosition, GloveRotation);
OutGlovePosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(GlovePosition));
OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat(); OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat();
} }
@@ -461,11 +473,15 @@ void FSGNovaGloveImpl::GetWristLocation(const FVector& ReferencePosition, const
{ {
FSGVect3DImpl::FVect3DType WristPosition; FSGVect3DImpl::FVect3DType WristPosition;
FSGQuatImpl::FQuatType WristRotation; FSGQuatImpl::FQuatType WristRotation;
ToNovaGlovePtrChecked()->GetWristLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), ToNovaGlovePtrChecked()->GetWristLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
WristPosition, WristRotation); FSGQuatImpl{ReferenceRotation}.ToQuat(),
OutWristPosition = FSGVect3DImpl{MoveTemp(WristPosition)}.ToFVector(); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
WristPosition, WristRotation);
OutWristPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(WristPosition));
OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat(); OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat();
} }
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGSenseGloveHandProfileImpl.cpp
+3 -5
View File
@@ -121,8 +121,7 @@ FSGSenseGloveHandProfileImpl::FSGSenseGloveHandProfileImpl(const bool bRightHand
#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */ #endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
{ {
std::vector<FSGVect3DImpl::FVect3DType> FingerThimbleOffsetVector{ std::vector<FSGVect3DImpl::FVect3DType> FingerThimbleOffsetVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(FingerThimbleOffset)
FingerThimbleOffset)
}; };
Pimpl->SenseGloveHandProfile = FSenseGloveHandProfileType( Pimpl->SenseGloveHandProfile = FSenseGloveHandProfileType(
bRightHanded, Interpolator.ToHandInterpolator(), bRightHanded, Interpolator.ToHandInterpolator(),
@@ -218,7 +217,7 @@ void FSGSenseGloveHandProfileImpl::SetFingerSolver(const ESGFingerSolver FingerS
TArray<FVector> FSGSenseGloveHandProfileImpl::GetFingerThimbleOffset() const TArray<FVector> FSGSenseGloveHandProfileImpl::GetFingerThimbleOffset() const
{ {
const TArray<FVector> FingerThimbleOffset{ const TArray<FVector> FingerThimbleOffset{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->SenseGloveHandProfile.GetFingerThimbleOffset()) Pimpl->SenseGloveHandProfile.GetFingerThimbleOffset())
}; };
return FingerThimbleOffset; return FingerThimbleOffset;
@@ -227,8 +226,7 @@ TArray<FVector> FSGSenseGloveHandProfileImpl::GetFingerThimbleOffset() const
void FSGSenseGloveHandProfileImpl::SetFingerThimbleOffset(const TArray<FVector>& FingerThimbleOffset) void FSGSenseGloveHandProfileImpl::SetFingerThimbleOffset(const TArray<FVector>& FingerThimbleOffset)
{ {
std::vector<FSGVect3DImpl::FVect3DType> FingerThimbleOffsetVector{ std::vector<FSGVect3DImpl::FVect3DType> FingerThimbleOffsetVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(FingerThimbleOffset)
FingerThimbleOffset)
}; };
Pimpl->SenseGloveHandProfile.SetFingerThimbleOffset(MoveTemp(FingerThimbleOffsetVector)); Pimpl->SenseGloveHandProfile.SetFingerThimbleOffset(MoveTemp(FingerThimbleOffsetVector));
} }
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGSenseGloveImpl.cpp
+61 -37
View File
@@ -210,12 +210,16 @@ void FSGSenseGloveImpl::CalculateGloveLocation(const FVector& ReferencePosition,
{ {
FSGVect3DImpl::FVect3DType GlovePosition; FSGVect3DImpl::FVect3DType GlovePosition;
FSGQuatImpl::FQuatType GloveRotation; FSGQuatImpl::FQuatType GloveRotation;
FSenseGloveType::CalculateGloveLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), FSenseGloveType::CalculateGloveLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
bRightHanded, FSGCoreEnumCast::ToEFinger(MountedOn), FSGQuatImpl{ReferenceRotation}.ToQuat(),
GlovePosition, GloveRotation); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
OutGlovePosition = FSGVect3DImpl{MoveTemp(GlovePosition)}.ToFVector(); bRightHanded, FSGCoreEnumCast::ToEFinger(MountedOn),
GlovePosition, GloveRotation);
OutGlovePosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(GlovePosition));;
OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat(); OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat();
} }
@@ -228,14 +232,18 @@ void FSGSenseGloveImpl::CalculateWristLocation(const FVector& ReferencePosition,
{ {
FSGVect3DImpl::FVect3DType WristPosition; FSGVect3DImpl::FVect3DType WristPosition;
FSGQuatImpl::FQuatType WristRotation; FSGQuatImpl::FQuatType WristRotation;
FSenseGloveType::CalculateWristLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), FSenseGloveType::CalculateWristLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
bRightHanded, FSGCoreEnumCast::ToEFinger(MountedOn), FSGQuatImpl{ReferenceRotation}.ToQuat(),
FSGVect3DImpl(GloveWristPositionOffset).ToVect3D(), FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
FSGQuatImpl(GloveWristRotationOffset).ToQuat(), bRightHanded, FSGCoreEnumCast::ToEFinger(MountedOn),
WristPosition, WristRotation); FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(GloveWristPositionOffset),
OutWristPosition = FSGVect3DImpl{MoveTemp(WristPosition)}.ToFVector(); FSGQuatImpl(GloveWristRotationOffset).ToQuat(),
WristPosition, WristRotation);
OutWristPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(WristPosition));
OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat(); OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat();
} }
@@ -470,11 +478,15 @@ void FSGSenseGloveImpl::GetGloveLocation(const FVector& ReferencePosition, const
{ {
FSGVect3DImpl::FVect3DType GlovePosition; FSGVect3DImpl::FVect3DType GlovePosition;
FSGQuatImpl::FQuatType GloveRotation; FSGQuatImpl::FQuatType GloveRotation;
ToSenseGlovePtrChecked()->GetGloveLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), ToSenseGlovePtrChecked()->GetGloveLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
GlovePosition, GloveRotation); FSGQuatImpl{ReferenceRotation}.ToQuat(),
OutGlovePosition = FSGVect3DImpl{MoveTemp(GlovePosition)}.ToFVector(); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
GlovePosition, GloveRotation);
OutGlovePosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(GlovePosition));
OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat(); OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat();
} }
@@ -485,12 +497,16 @@ void FSGSenseGloveImpl::GetGloveLocation(const FVector& ReferencePosition, const
{ {
FSGVect3DImpl::FVect3DType GlovePosition; FSGVect3DImpl::FVect3DType GlovePosition;
FSGQuatImpl::FQuatType GloveRotation; FSGQuatImpl::FQuatType GloveRotation;
ToSenseGlovePtrChecked()->GetGloveLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), ToSenseGlovePtrChecked()->GetGloveLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
FSGCoreEnumCast::ToEFinger(MountedOn), FSGQuatImpl{ReferenceRotation}.ToQuat(),
GlovePosition, GloveRotation); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
OutGlovePosition = FSGVect3DImpl{MoveTemp(GlovePosition)}.ToFVector(); FSGCoreEnumCast::ToEFinger(MountedOn),
GlovePosition, GloveRotation);
OutGlovePosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(GlovePosition));
OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat(); OutGloveRotation = FSGQuatImpl{MoveTemp(GloveRotation)}.ToFQuat();
} }
@@ -500,11 +516,15 @@ void FSGSenseGloveImpl::GetWristLocation(const FVector& ReferencePosition, const
{ {
FSGVect3DImpl::FVect3DType WristPosition; FSGVect3DImpl::FVect3DType WristPosition;
FSGQuatImpl::FQuatType WristRotation; FSGQuatImpl::FQuatType WristRotation;
ToSenseGlovePtrChecked()->GetWristLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), ToSenseGlovePtrChecked()->GetWristLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
WristPosition, WristRotation); FSGQuatImpl{ReferenceRotation}.ToQuat(),
OutWristPosition = FSGVect3DImpl{MoveTemp(WristPosition)}.ToFVector(); FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
WristPosition, WristRotation);
OutWristPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(WristPosition));
OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat(); OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat();
} }
@@ -515,13 +535,17 @@ void FSGSenseGloveImpl::GetWristLocation(const FVector& ReferencePosition, const
{ {
FSGVect3DImpl::FVect3DType WristPosition; FSGVect3DImpl::FVect3DType WristPosition;
FSGQuatImpl::FQuatType WristRotation; FSGQuatImpl::FQuatType WristRotation;
ToSenseGlovePtrChecked()->GetWristLocation(FSGVect3DImpl{ReferencePosition}.ToVect3D(),
FSGQuatImpl{ReferenceRotation}.ToQuat(), ToSenseGlovePtrChecked()->GetWristLocation(
FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware), FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(ReferencePosition),
FSGVect3DImpl(GloveWristPositionOffset).ToVect3D(), FSGQuatImpl{ReferenceRotation}.ToQuat(),
FSGQuatImpl(GloveWristRotationOffset).ToQuat(), FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
WristPosition, WristRotation); FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(GloveWristPositionOffset),
OutWristPosition = FSGVect3DImpl{MoveTemp(WristPosition)}.ToFVector(); FSGQuatImpl(GloveWristRotationOffset).ToQuat(),
WristPosition, WristRotation);
OutWristPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
MoveTemp(WristPosition));
OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat(); OutWristRotation = FSGQuatImpl{MoveTemp(WristRotation)}.ToFQuat();
} }
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGSenseGloveInfoImpl.cpp
+18 -18
View File
@@ -127,15 +127,16 @@ FSGSenseGloveInfoImpl::FSGSenseGloveInfoImpl(const FString& DeviceId,
std::string HardwareVersionString(TCHAR_TO_UTF8(*HardwareVersion)); std::string HardwareVersionString(TCHAR_TO_UTF8(*HardwareVersion));
FSGQuatImpl::FQuatType ImuCorrectionQuat(FSGQuatImpl(ImuCorrection).ToQuat()); FSGQuatImpl::FQuatType ImuCorrectionQuat(FSGQuatImpl(ImuCorrection).ToQuat());
std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector(FSGArrayUtils::ToStdVector< std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{
FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(StartPositions)); FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartPositions)
};
std::vector<FSGQuatImpl::FQuatType> StartRotationsVector(FSGArrayUtils::ToStdVector< std::vector<FSGQuatImpl::FQuatType> StartRotationsVector{
FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(StartRotations)); FSGArrayUtils::ToStdVector<FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(StartRotations)
};
std::vector<std::vector<FSGVect3DImpl::FVect3DType>> GloveLengthsVector{ std::vector<std::vector<FSGVect3DImpl::FVect3DType>> GloveLengthsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(GloveLengths)
GloveLengths)
}; };
std::vector<bool> FunctionsVector{FSGArrayUtils::ToStdVector(Functions)}; std::vector<bool> FunctionsVector{FSGArrayUtils::ToStdVector(Functions)};
@@ -264,7 +265,7 @@ void FSGSenseGloveInfoImpl::SetImuCorrection(const FQuat& ImuCorrection)
TArray<FVector> FSGSenseGloveInfoImpl::GetStartPositions() const TArray<FVector> FSGSenseGloveInfoImpl::GetStartPositions() const
{ {
TArray<FVector> StartPositionsArray{ TArray<FVector> StartPositionsArray{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->SenseGloveInfo.GetStartPositions())}; Pimpl->SenseGloveInfo.GetStartPositions())};
return MoveTemp(StartPositionsArray); return MoveTemp(StartPositionsArray);
} }
@@ -272,8 +273,7 @@ TArray<FVector> FSGSenseGloveInfoImpl::GetStartPositions() const
void FSGSenseGloveInfoImpl::SetStartPositions(const TArray<FVector>& StartPositions) void FSGSenseGloveInfoImpl::SetStartPositions(const TArray<FVector>& StartPositions)
{ {
std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{ std::vector<FSGVect3DImpl::FVect3DType> StartPositionsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartPositions)
StartPositions)
}; };
Pimpl->SenseGloveInfo.SetStartPositions(MoveTemp(StartPositionsVector)); Pimpl->SenseGloveInfo.SetStartPositions(MoveTemp(StartPositionsVector));
} }
@@ -298,8 +298,7 @@ void FSGSenseGloveInfoImpl::SetStartRotations(const TArray<FQuat>& StartRotation
TArray<TArray<FVector>> FSGSenseGloveInfoImpl::GetGloveLengths() const TArray<TArray<FVector>> FSGSenseGloveInfoImpl::GetGloveLengths() const
{ {
TArray<TArray<FVector>> GloveLengths{ TArray<TArray<FVector>> GloveLengths{
FSGArrayUtils::FromStdVector< FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>(
Pimpl->SenseGloveInfo.GetGloveLengths()) Pimpl->SenseGloveInfo.GetGloveLengths())
}; };
return MoveTemp(GloveLengths); return MoveTemp(GloveLengths);
@@ -308,8 +307,7 @@ TArray<TArray<FVector>> FSGSenseGloveInfoImpl::GetGloveLengths() const
void FSGSenseGloveInfoImpl::SetGloveLengths(const TArray<TArray<FVector>>& GloveLengths) const void FSGSenseGloveInfoImpl::SetGloveLengths(const TArray<TArray<FVector>>& GloveLengths) const
{ {
std::vector<std::vector<FSGVect3DImpl::FVect3DType>> GloveLengthsVector{ std::vector<std::vector<FSGVect3DImpl::FVect3DType>> GloveLengthsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(GloveLengths)
GloveLengths)
}; };
Pimpl->SenseGloveInfo.SetGloveLengths(MoveTemp(GloveLengthsVector)); Pimpl->SenseGloveInfo.SetGloveLengths(MoveTemp(GloveLengthsVector));
} }
@@ -328,8 +326,9 @@ void FSGSenseGloveInfoImpl::SetFunctions(const TArray<bool>& Functions) const
FVector FSGSenseGloveInfoImpl::GetStartPosition(const ESGFinger Finger) const FVector FSGSenseGloveInfoImpl::GetStartPosition(const ESGFinger Finger) const
{ {
FVector StartPosition(FSGVect3DImpl(Pimpl->SenseGloveInfo.GetStartPosition( FVector StartPosition{FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FSGCoreEnumCast::ToEFinger(Finger))).ToFVector()); Pimpl->SenseGloveInfo.GetStartPosition(FSGCoreEnumCast::ToEFinger(Finger)))
};
return MoveTemp(StartPosition); return MoveTemp(StartPosition);
} }
@@ -343,10 +342,11 @@ FQuat FSGSenseGloveInfoImpl::GetStartRotation(const ESGFinger Finger) const
TArray<FVector> FSGSenseGloveInfoImpl::GetGloveLengths(const ESGFinger Finger) const TArray<FVector> FSGSenseGloveInfoImpl::GetGloveLengths(const ESGFinger Finger) const
{ {
std::vector<FSGVect3DImpl::FVect3DType> GloveLengthsVector{ std::vector<FSGVect3DImpl::FVect3DType> GloveLengthsVector{
Pimpl->SenseGloveInfo.GetGloveLengths(FSGCoreEnumCast::ToEFinger(Finger))}; Pimpl->SenseGloveInfo.GetGloveLengths(FSGCoreEnumCast::ToEFinger(Finger))
};
TArray<FVector> GloveLengthsArray{ TArray<FVector> GloveLengthsArray{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(MoveTemp(GloveLengthsVector))
MoveTemp(GloveLengthsVector))}; };
return MoveTemp(GloveLengthsArray); return MoveTemp(GloveLengthsArray);
} }
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGSenseGlovePoseImpl.cpp
+7 -10
View File
@@ -113,8 +113,7 @@ FSGSenseGlovePoseImpl::FSGSenseGlovePoseImpl(bool bRightHanded, const TArray<TAr
#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */ #endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
{ {
std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{ std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(JointPositions)
JointPositions)
}; };
std::vector<std::vector<FSGQuatImpl::FQuatType>> JointRotationsVector{ std::vector<std::vector<FSGQuatImpl::FQuatType>> JointRotationsVector{
FSGArrayUtils::ToStdVector<FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>( FSGArrayUtils::ToStdVector<FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(
@@ -184,7 +183,7 @@ void FSGSenseGlovePoseImpl::SetIsRight(const bool bRightHanded) const
TArray<TArray<FVector>> FSGSenseGlovePoseImpl::GetJointPositions() const TArray<TArray<FVector>> FSGSenseGlovePoseImpl::GetJointPositions() const
{ {
const TArray<TArray<FVector>> JointPositions{ const TArray<TArray<FVector>> JointPositions{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->SenseGlovePose.GetJointPositions()) Pimpl->SenseGlovePose.GetJointPositions())
}; };
return JointPositions; return JointPositions;
@@ -193,8 +192,7 @@ TArray<TArray<FVector>> FSGSenseGlovePoseImpl::GetJointPositions() const
void FSGSenseGlovePoseImpl::SetJointPositions(const TArray<TArray<FVector>>& JointPositions) const void FSGSenseGlovePoseImpl::SetJointPositions(const TArray<TArray<FVector>>& JointPositions) const
{ {
std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{ std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(JointPositions)
JointPositions)
}; };
Pimpl->SenseGlovePose.SetJointPositions(MoveTemp(JointPositionsVector)); Pimpl->SenseGlovePose.SetJointPositions(MoveTemp(JointPositionsVector));
} }
@@ -238,7 +236,7 @@ void FSGSenseGlovePoseImpl::SetGloveAngles(const TArray<TArray<FVector>>& GloveA
TArray<FVector> FSGSenseGlovePoseImpl::GetThimblePositions() const TArray<FVector> FSGSenseGlovePoseImpl::GetThimblePositions() const
{ {
const TArray<FVector> ThimblePositions{ const TArray<FVector> ThimblePositions{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->SenseGlovePose.GetThimblePositions()) Pimpl->SenseGlovePose.GetThimblePositions())
}; };
return ThimblePositions; return ThimblePositions;
@@ -266,7 +264,7 @@ TArray<FVector> FSGSenseGlovePoseImpl::CalculateFingerTips(
const FSGSenseGloveHandProfileImpl& SenseGloveHandProfileImpl) const const FSGSenseGloveHandProfileImpl& SenseGloveHandProfileImpl) const
{ {
const TArray<FVector> FingerTips{ const TArray<FVector> FingerTips{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->SenseGlovePose.CalculateFingerTips(SenseGloveHandProfileImpl.ToSenseGloveHandProfile())) Pimpl->SenseGlovePose.CalculateFingerTips(SenseGloveHandProfileImpl.ToSenseGloveHandProfile()))
}; };
return FingerTips; return FingerTips;
@@ -275,11 +273,10 @@ TArray<FVector> FSGSenseGlovePoseImpl::CalculateFingerTips(
TArray<FVector> FSGSenseGlovePoseImpl::CalculateFingerTips(const TArray<FVector>& FingerOffsets) const TArray<FVector> FSGSenseGlovePoseImpl::CalculateFingerTips(const TArray<FVector>& FingerOffsets) const
{ {
std::vector<FSGVect3DImpl::FVect3DType> FingerOffsetsVector{ std::vector<FSGVect3DImpl::FVect3DType> FingerOffsetsVector{
FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>( FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(FingerOffsets)
FingerOffsets)
}; };
TArray<FVector> FingerTips{ TArray<FVector> FingerTips{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
Pimpl->SenseGlovePose.CalculateFingerTips(MoveTemp(FingerOffsetsVector))) Pimpl->SenseGlovePose.CalculateFingerTips(MoveTemp(FingerOffsetsVector)))
}; };
return FingerTips; return FingerTips;
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGSenseGloveVarsImpl.cpp
+2 -2
View File
@@ -68,7 +68,7 @@ TArray<FVector> FSGSenseGloveVarsImpl::GetStartPositions(const FString& Hardware
{ {
std::string HardwareVersionString(TCHAR_TO_UTF8(*HardwareVersion)); std::string HardwareVersionString(TCHAR_TO_UTF8(*HardwareVersion));
const TArray<FVector> StartPositions{ const TArray<FVector> StartPositions{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FSenseGloveVarsType::GetStartPositions(MoveTemp(HardwareVersionString), bRightHanded)) FSenseGloveVarsType::GetStartPositions(MoveTemp(HardwareVersionString), bRightHanded))
}; };
return StartPositions; return StartPositions;
@@ -88,7 +88,7 @@ TArray<TArray<FVector>> FSGSenseGloveVarsImpl::GetGloveLengths(const FString& Ha
{ {
std::string HardwareVersionString(TCHAR_TO_UTF8(*HardwareVersion)); std::string HardwareVersionString(TCHAR_TO_UTF8(*HardwareVersion));
const TArray<TArray<FVector>> GloveLengths{ const TArray<TArray<FVector>> GloveLengths{
FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FSenseGloveVarsType::GetGloveLengths(MoveTemp(HardwareVersionString))) FSenseGloveVarsType::GetGloveLengths(MoveTemp(HardwareVersionString)))
}; };
return GloveLengths; return GloveLengths;
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGTrackingImpl.cpp
+56 -25
View File
@@ -48,9 +48,13 @@ void FSGTrackingImpl::CalculateLocation(const FVector& TrackedPosition, const FQ
const FVector& PositionOffset, const FQuat& RotationOffset, const FVector& PositionOffset, const FQuat& RotationOffset,
FVector& OutNewPosition, FQuat& OutNewRotation) FVector& OutNewPosition, FQuat& OutNewRotation)
{ {
FSGVect3DImpl::FVect3DType TrackedPositionVect3D(FSGVect3DImpl(TrackedPosition).ToVect3D()); FSGVect3DImpl::FVect3DType TrackedPositionVect3D{
FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(TrackedPosition)
};
FSGQuatImpl::FQuatType TrackedRotationQuat(FSGQuatImpl(TrackedRotation).ToQuat()); FSGQuatImpl::FQuatType TrackedRotationQuat(FSGQuatImpl(TrackedRotation).ToQuat());
FSGVect3DImpl::FVect3DType PositionOffsetVect3D(FSGVect3DImpl(PositionOffset).ToVect3D()); FSGVect3DImpl::FVect3DType PositionOffsetVect3D{
FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(PositionOffset)
};
FSGQuatImpl::FQuatType RotationOffsetQuat(FSGQuatImpl(RotationOffset).ToQuat()); FSGQuatImpl::FQuatType RotationOffsetQuat(FSGQuatImpl(RotationOffset).ToQuat());
FSGVect3DImpl::FVect3DType NewPosition; FSGVect3DImpl::FVect3DType NewPosition;
FSGQuatImpl::FQuatType NewRotation; FSGQuatImpl::FQuatType NewRotation;
@@ -62,37 +66,40 @@ void FSGTrackingImpl::CalculateLocation(const FVector& TrackedPosition, const FQ
NewPosition, NewPosition,
NewRotation); NewRotation);
OutNewPosition = FSGVect3DImpl(NewPosition).ToFVector(); OutNewPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(NewPosition);
OutNewRotation = FSGQuatImpl(NewRotation).ToFQuat(); OutNewRotation = FSGQuatImpl(NewRotation).ToFQuat();
} }
const TArray<FVector>& FSGTrackingImpl::GetSenseGloveFingerToGlovePositionOrigin() const TArray<FVector>& FSGTrackingImpl::GetSenseGloveFingerToGlovePositionOrigin()
{ {
static const TArray<FVector> GlovePositionOrigin{FSGArrayUtils::FromStdVector< static const TArray<FVector> GlovePositionOrigin{
FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>( FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetSenseGloveFingerToGlovePositionOrigin() FTrackingType::GetSenseGloveFingerToGlovePositionOrigin())
)}; };
return GlovePositionOrigin; return GlovePositionOrigin;
} }
const TArray<FQuat>& FSGTrackingImpl::GetSenseGloveFingerToGloveRotationOrigin() const TArray<FQuat>& FSGTrackingImpl::GetSenseGloveFingerToGloveRotationOrigin()
{ {
static const TArray<FQuat> GloveRotationOrigin{FSGArrayUtils::FromStdVector< static const TArray<FQuat> GloveRotationOrigin{
FSGQuatImpl::FQuatType, FQuat, FSGQuatImpl, &FSGQuatImpl::ToFQuat>( FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat, FSGQuatImpl, &FSGQuatImpl::ToFQuat>(
FTrackingType::GetSenseGloveFingerToGloveRotationOrigin() FTrackingType::GetSenseGloveFingerToGloveRotationOrigin())
)}; };
return GloveRotationOrigin; return GloveRotationOrigin;
} }
const FVector& FSGTrackingImpl::GetSenseGloveWristPositionOffset() const FVector& FSGTrackingImpl::GetSenseGloveWristPositionOffset()
{ {
static const FVector Offset(FSGVect3DImpl(FTrackingType::GetSenseGloveWristPositionOffset()).ToFVector()); static const FVector Offset{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetSenseGloveWristPositionOffset())
};
return Offset; return Offset;
} }
const FQuat& FSGTrackingImpl::GetSenseGloveWristRotationOffset() const FQuat& FSGTrackingImpl::GetSenseGloveWristRotationOffset()
{ {
static FQuat Offset(FSGQuatImpl(FTrackingType::GetSenseGloveWristRotationOffset()).ToFQuat()); static FQuat Offset{FSGQuatImpl(FTrackingType::GetSenseGloveWristRotationOffset()).ToFQuat()};
return Offset; return Offset;
} }
@@ -105,7 +112,7 @@ void FSGTrackingImpl::GetSenseGloveMountOffset(const bool bRightHanded, const ES
FTrackingType::GetSenseGloveMountOffset(bRightHanded, FSGCoreEnumCast::ToEFinger(ToFinger), FTrackingType::GetSenseGloveMountOffset(bRightHanded, FSGCoreEnumCast::ToEFinger(ToFinger),
IPosition, IRotation); IPosition, IRotation);
OutIPosition = FSGVect3DImpl(IPosition).ToFVector(); OutIPosition = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(IPosition);
OutIRotation = FSGQuatImpl(IRotation).ToFQuat(); OutIRotation = FSGQuatImpl(IRotation).ToFQuat();
} }
@@ -119,13 +126,16 @@ void FSGTrackingImpl::GetSenseGloveTrackerMountOffset(const ESGPositionalTrackin
FTrackingType::GetSenseGloveTrackerMountOffset(FSGCoreEnumCast::ToEPositionalTrackingHardware(Hardware), FTrackingType::GetSenseGloveTrackerMountOffset(FSGCoreEnumCast::ToEPositionalTrackingHardware(Hardware),
bRightHanded, PositionOffset, RotationOffset); bRightHanded, PositionOffset, RotationOffset);
OutPositionOffset = FSGVect3DImpl(PositionOffset).ToFVector(); OutPositionOffset = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(PositionOffset);
OutRotationOffset = FSGQuatImpl(RotationOffset).ToFQuat(); OutRotationOffset = FSGQuatImpl(RotationOffset).ToFQuat();
} }
const FVector& FSGTrackingImpl::GetSenseGloveViveToAttachPosition() const FVector& FSGTrackingImpl::GetSenseGloveViveToAttachPosition()
{ {
static const FVector Position(FSGVect3DImpl(FTrackingType::GetSenseGloveViveToAttachPosition()).ToFVector()); static const FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetSenseGloveViveToAttachPosition())
};
return Position; return Position;
} }
@@ -137,7 +147,10 @@ const FQuat& FSGTrackingImpl::GetSenseGloveViveToAttachRotation()
const FVector& FSGTrackingImpl::GetSenseGloveOculusTouchToAttachPosition() const FVector& FSGTrackingImpl::GetSenseGloveOculusTouchToAttachPosition()
{ {
static const FVector Position(FSGVect3DImpl(FTrackingType::GetSenseGloveOculusTouchToAttachPosition()).ToFVector()); static const FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetSenseGloveOculusTouchToAttachPosition())
};
return Position; return Position;
} }
@@ -149,7 +162,10 @@ const FQuat& FSGTrackingImpl::GetSenseGloveOculusTouchToAttachRotation()
const FVector& FSGTrackingImpl::GetNovaToWristPositionOffset() const FVector& FSGTrackingImpl::GetNovaToWristPositionOffset()
{ {
static const FVector Offset(FSGVect3DImpl(FTrackingType::GetNovaToWristPositionOffset()).ToFVector()); static const FVector Offset{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetNovaToWristPositionOffset())
};
return Offset; return Offset;
} }
@@ -167,13 +183,16 @@ void FSGTrackingImpl::GetNovaGloveWristOffset(const bool bRightHanded,
FTrackingType::GetNovaGloveWristOffset(bRightHanded, PositionOffset, RotationOffset); FTrackingType::GetNovaGloveWristOffset(bRightHanded, PositionOffset, RotationOffset);
OutPositionOffset = FSGVect3DImpl(PositionOffset).ToFVector(); OutPositionOffset = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(PositionOffset);
OutRotationOffset = FSGQuatImpl(RotationOffset).ToFQuat(); OutRotationOffset = FSGQuatImpl(RotationOffset).ToFQuat();
} }
const FVector& FSGTrackingImpl::GetRightNovaViveToAttachPosition() const FVector& FSGTrackingImpl::GetRightNovaViveToAttachPosition()
{ {
static const FVector Position(FSGVect3DImpl(FTrackingType::GetRightNovaViveToAttachPosition()).ToFVector()); static const FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetRightNovaViveToAttachPosition())
};
return Position; return Position;
} }
@@ -185,7 +204,10 @@ const FQuat& FSGTrackingImpl::GetRightNovaViveToAttachRotation()
const FVector& FSGTrackingImpl::GetLeftNovaViveToAttachPosition() const FVector& FSGTrackingImpl::GetLeftNovaViveToAttachPosition()
{ {
static const FVector Position(FSGVect3DImpl(FTrackingType::GetLeftNovaViveToAttachPosition()).ToFVector()); static const FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetLeftNovaViveToAttachPosition())
};
return Position; return Position;
} }
@@ -197,7 +219,10 @@ const FQuat& FSGTrackingImpl::GetLeftNovaViveToAttachRotation()
const FVector& FSGTrackingImpl::GetRightNovaQuest2ToAttachPosition() const FVector& FSGTrackingImpl::GetRightNovaQuest2ToAttachPosition()
{ {
static const FVector Position(FSGVect3DImpl(FTrackingType::GetRightNovaQuest2ToAttachPosition()).ToFVector()); static const FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetRightNovaQuest2ToAttachPosition())
};
return Position; return Position;
} }
@@ -209,7 +234,10 @@ const FQuat& FSGTrackingImpl::GetRightNovaQuest2ToAttachRotation()
const FVector& FSGTrackingImpl::GetLeftNovaQuest2ToAttachPosition() const FVector& FSGTrackingImpl::GetLeftNovaQuest2ToAttachPosition()
{ {
static const FVector Position(FSGVect3DImpl(FTrackingType::GetLeftNovaQuest2ToAttachPosition()).ToFVector()); static const FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetLeftNovaQuest2ToAttachPosition())
};
return Position; return Position;
} }
@@ -221,7 +249,10 @@ const FQuat& FSGTrackingImpl::GetLeftNovaQuest2ToAttachRotation()
const FVector& FSGTrackingImpl::GetRightNovaPico2ToAttachPosition() const FVector& FSGTrackingImpl::GetRightNovaPico2ToAttachPosition()
{ {
static FVector Position(FSGVect3DImpl(FTrackingType::GetRightNovaPico2ToAttachPosition()).ToFVector()); static FVector Position{
FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
FTrackingType::GetRightNovaPico2ToAttachPosition())
};
return Position; return Position;
} }
@@ -246,7 +277,7 @@ void FSGTrackingImpl::GetNovaGloveTrackerOffset(const ESGPositionalTrackingHardw
FTrackingType::GetNovaGloveTrackerOffset(FSGCoreEnumCast::ToEPositionalTrackingHardware(Hardware), bRightHanded, FTrackingType::GetNovaGloveTrackerOffset(FSGCoreEnumCast::ToEPositionalTrackingHardware(Hardware), bRightHanded,
PositionOffset, RotationOffset); PositionOffset, RotationOffset);
OutPositionOffset = FSGVect3DImpl(PositionOffset).ToFVector(); OutPositionOffset = FSGUnits::MillimetersToCentimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(PositionOffset);
OutRotationOffset = FSGQuatImpl(RotationOffset).ToFQuat(); OutRotationOffset = FSGQuatImpl(RotationOffset).ToFQuat();
} }