implement a USGHapticsComponent to allow sending a variety of haptic feedbacks to the gloves without touching senseglove's low-level api

2026-02-24 11:44:00 +01:00
parent 1993ddc328
commit d6de667106
5 changed files with 750 additions and 0 deletions
@@ -0,0 +1,252 @@
+/**
+ * @file
+ *
+ * @author  Mamadou Babaei <mamadou@senseglove.com>
+ *
+ * @section LICENSE
+ *
+ * (The MIT License)
+ *
+ * Copyright (c) 2020 - 2026 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 "SenseGlove/Components/SGHapticsComponent.h"
+
+#include "SGCore/SGCustomWaveform.h"
+#include "SGCore/SGHapticGlove.h"
+#include "SGTracking/SGGloveTracker.h"
+
+struct USGHapticsComponent::FImpl
+{
+    /************************
+     * Static methods
+     ************************/
+
+    /************************
+     * Owner object
+     ************************/
+
+    USGHapticsComponent* Owner;
+
+    /************************
+     * Constructor / Destructor
+     ************************/
+
+    explicit FImpl(USGHapticsComponent* InOwner);
+    ~FImpl();
+
+    /************************
+     * Default copy constructor & copy assignment operator
+     ************************/
+
+    FImpl(const FImpl& Rhs) = default;
+    FImpl& operator=(const FImpl& Rhs) = default;
+
+    /************************
+     * Methods
+     ************************/
+
+    FORCEINLINE USGHapticGlove* GetGlove() const
+    {
+        const USGGloveTracker* GloveTracker{USGGloveTracker::GetInstance(Owner->GetOuter())};
+        USGHapticGlove* Glove{IsValid(GloveTracker) ? GloveTracker->GetGlove(Owner->IsRight()) : nullptr};
+        return Glove;
+    }
+
+    void AutoStopAllHaptics() const;
+};
+
+USGHapticsComponent::USGHapticsComponent(const FObjectInitializer& ObjectInitializer)
+    : Super(ObjectInitializer),
+      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
+{
+    bRight = true;
+}
+
+void USGHapticsComponent::SetRight(const bool bInRight)
+{
+    bRight = bInRight;
+
+    if (bAutoStopAllHaptics)
+    {
+        Pimpl->AutoStopAllHaptics();
+    }
+}
+
+void USGHapticsComponent::UninitializeComponent()
+{
+    Super::UninitializeComponent();
+
+    if (bAutoStopAllHaptics)
+    {
+        Pimpl->AutoStopAllHaptics();
+    }
+}
+
+void USGHapticsComponent::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+    Super::EndPlay(EndPlayReason);
+
+    if (bAutoStopAllHaptics)
+    {
+        Pimpl->AutoStopAllHaptics();
+    }
+}
+
+void USGHapticsComponent::StopHaptics()
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        Glove->StopHaptics();
+    }
+}
+
+void USGHapticsComponent::StopVibrations()
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        Glove->StopVibrations();
+    }
+}
+
+bool USGHapticsComponent::SendHaptics()
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        return Glove->SendHaptics();
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::SupportsCustomWaveform(const ESGHapticLocation AtLocation) const
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        return Glove->SupportsCustomWaveform(AtLocation);
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::SendCustomWaveform(
+    const float Amplitude, const float Duration, const ESGHapticLocation Location)
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        USGCustomWaveform* Waveform{
+            USGCustomWaveform::NewCustomWaveform(GetOuter(), Amplitude, Duration)
+        };
+        return Glove->SendCustomWaveform(MoveTemp(Waveform), Location);
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::SendCustomWaveform(
+    const float Amplitude, const float Duration, const float Frequency, const ESGHapticLocation Location)
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        USGCustomWaveform* Waveform{
+            USGCustomWaveform::NewCustomWaveform(GetOuter(), Amplitude, Duration, Frequency)
+        };
+        return Glove->SendCustomWaveform(MoveTemp(Waveform), Location);
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::QueueForceFeedbackLevels(const TArray<float>& Levels01)
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        return Glove->QueueForceFeedbackLevels(Levels01);
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::QueueForceFeedbackLevel(const int32 Finger, const float Level01)
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        return Glove->QueueForceFeedbackLevel(Finger, Level01);
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::QueueVibroLevels(const TArray<float>& Levels01)
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        return Glove->QueueVibroLevels(Levels01);
+    }
+
+    return false;
+}
+
+bool USGHapticsComponent::QueueVibroLevel(const ESGHapticLocation Location, const float Level01)
+{
+    USGHapticGlove* Glove{Pimpl->GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected())
+    {
+        return Glove->QueueVibroLevel(Location, Level01);
+    }
+
+    return false;
+}
+
+USGHapticsComponent::FImpl::FImpl(USGHapticsComponent* InOwner)
+    : Owner(InOwner)
+{
+}
+
+USGHapticsComponent::FImpl::~FImpl() = default;
+
+void USGHapticsComponent::FImpl::AutoStopAllHaptics() const
+{
+    USGHapticGlove* Glove{GetGlove()};
+    if (IsValid(Glove) && Glove->IsConnected() && Owner->bAutoStopAllHaptics)
+    {
+        Glove->StopHaptics();
+    }
+}
+
+void USGHapticsComponent::FImplDeleter::operator()(const FImpl* P) const
+{
+    delete P;
+}
@@ -0,0 +1,192 @@
+/**
+ * @file
+ *
+ * @author  Mamadou Babaei <mamadou@senseglove.com>
+ *
+ * @section LICENSE
+ *
+ * (The MIT License)
+ *
+ * Copyright (c) 2020 - 2026 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
+ *
+ *
+ */
+
+
+#pragma once
+
+#include "Components/SceneComponent.h"
+#include "Templates/UniquePtr.h"
+
+#include "SGTypes/SGCoreTypes.h"
+
+#include "SGHapticsComponent.generated.h"
+
+class AActor;
+
+class USGCustomWaveform;
+
+UCLASS(Blueprintable, BlueprintType, ClassGroup=(SenseGlove), meta=(BlueprintSpawnableComponent))
+class SENSEGLOVE_API USGHapticsComponent : public USceneComponent
+{
+    GENERATED_UCLASS_BODY()
+
+private:
+    /**
+     * Determines whether this component operates on the right or the left hand.
+     */
+    UPROPERTY(EditAnywhere, Category="SenseGlove", meta=(AllowPrivateAccess="false"))
+    bool bRight;
+
+    /**
+     * If enabled, forces all haptics to stop automatically on the UninitializeComponent or EndPlay events, or when the
+     * handedness changes. This is useful for situations where the simulation has ended, but ongoing haptic feedback
+     * might remain active on the glove indefinitely. By default, this setting is enabled.
+     */
+    UPROPERTY(Config, EditDefaultsOnly, Category="Haptics")
+    bool bAutoStopAllHaptics;
+
+private:
+    struct FImpl;
+
+    struct FImplDeleter
+    {
+        void operator()(const FImpl* P) const;
+    };
+
+    TUniquePtr<FImpl, FImplDeleter> Pimpl;
+    FImplDeleter PimplDeleter;
+
+public:
+    FORCEINLINE bool IsLeft() const
+    {
+        return !IsRight();
+    }
+
+    FORCEINLINE bool IsRight() const
+    {
+        return bRight;
+    }
+
+    void SetRight(const bool bInRight);
+
+    FORCEINLINE bool AutoStopsAllHaptics() const
+    {
+        return bAutoStopAllHaptics;
+    }
+
+    void SetAutoStopAllHaptics(const bool bInAutoStopAllHaptics)
+    {
+        bAutoStopAllHaptics = bInAutoStopAllHaptics;
+    }
+
+public:
+    virtual void UninitializeComponent() override;
+
+    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+
+public:
+    /**
+     * Stops all Haptic effects if any are currently playing. Useful at the end of simulations or when restarting the
+     * level.
+     */
+    void StopHaptics();
+
+    /**
+     * Stops only vibrations.
+     */
+    void StopVibrations();
+
+    /**
+     * Take all active commands in the device queue, compile them into one and send them to the device.
+     *
+     * @return Returns true if the message was successfully sent to SenseCom.
+     */
+    bool SendHaptics();
+
+    /**
+     * Returns true if the haptic glove supports vibration feedback at the specified location.
+     *
+     * @param AtLocation
+     */
+    bool SupportsCustomWaveform(ESGHapticLocation AtLocation) const;
+
+    /**
+     * Sends a custom waveform to the location specified, provided that the glove has a motor there, and can support
+     * custom waveforms.
+     *
+     * @param Amplitude
+     * @param Duration
+     * @param Location
+     */
+    bool SendCustomWaveform(float Amplitude, float Duration, ESGHapticLocation Location);
+
+    /**
+     * Sends a custom waveform to the location specified, provided that the glove has a motor there, and can support
+     * custom waveforms.
+     *
+     * @param Amplitude
+     * @param Duration
+     * @param Frequency
+     * @param Location
+     */
+    bool SendCustomWaveform(float Amplitude, float Duration, float Frequency, ESGHapticLocation Location);
+
+    /**
+     * Queue a list of force-feedback levels, between 0.0f and 1.0f. Your list should be sorted from thumb to pinky.
+     *
+     * @param Levels01 Array containing the Force-Feedback levels, from 0.0f (no FFB) to 1.0f. A value < 0.0f will be
+     * ignored.
+     *
+     * @remarks Devices that 'only' have on/off FFB will treat any value > 0.0 as 1.0.
+     */
+    bool QueueForceFeedbackLevels(const TArray<float>& Levels01);
+
+    /**
+     * Set the Force-Feedback value of a particular finger to a specific level </summary>
+     *
+     * @param Level01 Value will be clamped between [0...1], where 0.0f means no Force-Feedback, and 1.0 means full
+     * force-feedback.
+     * @param Finger The finger to which to send the command.
+     */
+    bool QueueForceFeedbackLevel(int32 Finger, float Level01);
+
+    /**
+     * Queue a list of vibration levels, between 0.0 and 1.0. Your list should be sorted from thumb to pinky.
+     *
+     * @param Levels01 Array containing the vibration levels, from 0.0 (no vibration) to 1.0. A value < 0.0f will be
+     * ignored.
+     *
+     * @remarks Devices that 'only' have on/off FFB will treat any value > 0.0 as 1.0.
+     */
+    bool QueueVibroLevels(const TArray<float>& Levels01);
+
+    /**
+     * Queue a command to set the (continuous) vibration level at a specific location to a set amplitude.
+     *
+     * @param Location
+     * @param Level01 Value will be clamped between [0...1], where 0.0f means no vibration, and 1.0 means full
+     * vibration.
+     */
+    bool QueueVibroLevel(ESGHapticLocation Location, float Level01);
+};
@@ -0,0 +1,135 @@
+/**
+ * @file
+ *
+ * @author  Mamadou Babaei <mamadou@senseglove.com>
+ *
+ * @section LICENSE
+ *
+ * (The MIT License)
+ *
+ * Copyright (c) 2020 - 2026 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 "SGKismet/SGHapticsComponentKismetLibrary.h"
+
+#include "SenseGlove/Components/SGHapticsComponent.h"
+
+bool UHapticsComponentKismetLibrary::IsLeft(
+    const USGHapticsComponent* HapticsComponent)
+{
+    return HapticsComponent->IsLeft();
+}
+
+bool UHapticsComponentKismetLibrary::IsRight(
+    const USGHapticsComponent* HapticsComponent)
+{
+    return HapticsComponent->IsRight();
+}
+
+void UHapticsComponentKismetLibrary::SetRight(
+    USGHapticsComponent* HapticsComponent, const bool bInRight)
+{
+    HapticsComponent->SetRight(bInRight);
+}
+
+bool UHapticsComponentKismetLibrary::AutoStopsAllHaptics(
+    const USGHapticsComponent* HapticsComponent)
+{
+    return HapticsComponent->AutoStopsAllHaptics();
+}
+
+void UHapticsComponentKismetLibrary::SetAutoStopAllHaptics(
+    USGHapticsComponent* HapticsComponent, const bool bInAutoStopAllHaptics)
+{
+    HapticsComponent->SetAutoStopAllHaptics(bInAutoStopAllHaptics);
+}
+
+void UHapticsComponentKismetLibrary::StopHaptics(
+    USGHapticsComponent* HapticsComponent)
+{
+    HapticsComponent->StopHaptics();
+}
+
+void UHapticsComponentKismetLibrary::StopVibrations(
+    USGHapticsComponent* HapticsComponent)
+{
+    HapticsComponent->StopVibrations();
+}
+
+bool UHapticsComponentKismetLibrary::SendHaptics(
+    USGHapticsComponent* HapticsComponent)
+{
+    return HapticsComponent->SendHaptics();
+}
+
+bool UHapticsComponentKismetLibrary::SupportsCustomWaveform(
+    const USGHapticsComponent* HapticsComponent,
+    const ESGHapticLocation AtLocation)
+{
+    return HapticsComponent->SupportsCustomWaveform(AtLocation);
+}
+
+bool UHapticsComponentKismetLibrary::SendCustomWaveform_Amplitude_Duration_Location(
+    USGHapticsComponent* HapticsComponent,
+    const float Amplitude, const float Duration, const ESGHapticLocation Location)
+{
+    return HapticsComponent->SendCustomWaveform(Amplitude, Duration, Location);
+}
+
+bool UHapticsComponentKismetLibrary::SendCustomWaveform_Amplitude_Duration_Frequency_Location(
+    USGHapticsComponent* HapticsComponent,
+    const float Amplitude, const float Duration, const float Frequency, const ESGHapticLocation Location)
+{
+    return HapticsComponent->SendCustomWaveform(Amplitude, Duration, Frequency, Location);
+}
+
+bool UHapticsComponentKismetLibrary::QueueForceFeedbackLevels(
+    USGHapticsComponent* HapticsComponent,
+    const TArray<float>& Levels01)
+{
+    return HapticsComponent->QueueForceFeedbackLevels(Levels01);
+}
+
+bool UHapticsComponentKismetLibrary::QueueForceFeedbackLevel(
+    USGHapticsComponent* HapticsComponent,
+    const int32 Finger, const float Level01)
+{
+    return HapticsComponent->QueueForceFeedbackLevel(Finger, Level01);
+}
+
+bool UHapticsComponentKismetLibrary::QueueVibroLevels(
+    USGHapticsComponent* HapticsComponent,
+    const TArray<float>& Levels01)
+{
+    return HapticsComponent->QueueVibroLevels(Levels01);
+}
+
+bool UHapticsComponentKismetLibrary::QueueVibroLevel(
+    USGHapticsComponent* HapticsComponent,
+    const ESGHapticLocation Location, const float Level01)
+{
+    return HapticsComponent->QueueVibroLevel(Location, Level01);
+}
@@ -0,0 +1,170 @@
+/**
+ * @file
+ *
+ * @author  Mamadou Babaei <mamadou@senseglove.com>
+ *
+ * @section LICENSE
+ *
+ * (The MIT License)
+ *
+ * Copyright (c) 2020 - 2026 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
+ *
+ *
+ */
+
+
+#pragma once
+
+#include "SGKismet/SGBlueprintFunctionLibrary.h"
+
+#include "SGHapticsComponentKismetLibrary.generated.h"
+
+class AActor;
+class USGHapticsComponent;
+
+UCLASS(meta=(ScriptName = "SenseGloveHapticsComponentKismetLibrary"))
+class SENSEGLOVEKISMET_API UHapticsComponentKismetLibrary final : public USGBlueprintFunctionLibrary
+{
+    GENERATED_BODY()
+
+public:
+    UFUNCTION(BlueprintPure, Category="SenseGlove | Components | Haptics Component")
+    static bool IsLeft(const USGHapticsComponent* HapticsComponent);
+
+    UFUNCTION(BlueprintPure, Category="SenseGlove | Components | Haptics Component")
+    static bool IsRight(const USGHapticsComponent* HapticsComponent);
+
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static void SetRight(UPARAM(ref) USGHapticsComponent* HapticsComponent, bool bInRight);
+
+    UFUNCTION(BlueprintPure, Category="SenseGlove | Components | Haptics Component")
+    static bool AutoStopsAllHaptics(const USGHapticsComponent* HapticsComponent);
+
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static void SetAutoStopAllHaptics(UPARAM(ref) USGHapticsComponent* HapticsComponent, bool bInAutoStopAllHaptics);
+
+    /**
+     * Stops all Haptic effects if any are currently playing. Useful at the end of simulations or when restarting the
+     * level.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static void StopHaptics(UPARAM(ref) USGHapticsComponent* HapticsComponent);
+
+    /**
+     * Stops only vibrations.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static void StopVibrations(UPARAM(ref) USGHapticsComponent* HapticsComponent);
+
+    /**
+     * Take all active commands in the device queue, compile them into one and send them to the device.
+     *
+     * @return Returns true if the message was successfully sent to SenseCom.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static bool SendHaptics(UPARAM(ref) USGHapticsComponent* HapticsComponent);
+
+    /**
+     * Returns true if the haptic glove supports vibration feedback at the specified location.
+     *
+     * @param AtLocation
+     */
+    UFUNCTION(BlueprintPure, Category="SenseGlove | Components | Haptics Component")
+    static bool SupportsCustomWaveform(const USGHapticsComponent* HapticsComponent,
+                                       ESGHapticLocation AtLocation);
+
+    /**
+     * Sends a custom waveform to the location specified, provided that the glove has a motor there, and can support
+     * custom waveforms.
+     *
+     * @param Amplitude
+     * @param Duration
+     * @param Location
+     */
+    UFUNCTION(BlueprintCallable, DisplayName="Send Custom Waveform",
+        Category="SenseGlove | Components | Haptics Component")
+    static bool SendCustomWaveform_Amplitude_Duration_Location(
+        UPARAM(ref) USGHapticsComponent* HapticsComponent,
+        float Amplitude, float Duration, ESGHapticLocation Location);
+
+    /**
+     * Sends a custom waveform to the location specified, provided that the glove has a motor there, and can support
+     * custom waveforms.
+     *
+     * @param Amplitude
+     * @param Duration
+     * @param Frequency
+     * @param Location
+     */
+    UFUNCTION(BlueprintCallable, DisplayName="Send Custom Waveform",
+        Category="SenseGlove | Components | Haptics Component")
+    static bool SendCustomWaveform_Amplitude_Duration_Frequency_Location(
+        UPARAM(ref) USGHapticsComponent* HapticsComponent,
+        float Amplitude, float Duration, float Frequency, ESGHapticLocation Location);
+
+    /**
+     * Queue a list of force-feedback levels, between 0.0f and 1.0f. Your list should be sorted from thumb to pinky.
+     *
+     * @param Levels01 Array containing the Force-Feedback levels, from 0.0f (no FFB) to 1.0f. A value < 0.0f will be
+     * ignored.
+     *
+     * @remarks Devices that 'only' have on/off FFB will treat any value > 0.0 as 1.0.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static bool QueueForceFeedbackLevels(UPARAM(ref) USGHapticsComponent* HapticsComponent,
+                                         const TArray<float>& Levels01);
+
+    /**
+     * Set the Force-Feedback value of a particular finger to a specific level </summary>
+     *
+     * @param Level01 Value will be clamped between [0...1], where 0.0f means no Force-Feedback, and 1.0 means full
+     * force-feedback.
+     * @param Finger The finger to which to send the command.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static bool QueueForceFeedbackLevel(UPARAM(ref) USGHapticsComponent* HapticsComponent,
+                                        int32 Finger, float Level01);
+
+    /**
+     * Queue a list of vibration levels, between 0.0 and 1.0. Your list should be sorted from thumb to pinky.
+     *
+     * @param Levels01 Array containing the vibration levels, from 0.0 (no vibration) to 1.0. A value < 0.0f will be
+     * ignored.
+     *
+     * @remarks Devices that 'only' have on/off FFB will treat any value > 0.0 as 1.0.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static bool QueueVibroLevels(UPARAM(ref) USGHapticsComponent* HapticsComponent,
+                                 const TArray<float>& Levels01);
+
+    /**
+     * Queue a command to set the (continuous) vibration level at a specific location to a set amplitude.
+     *
+     * @param Location
+     * @param Level01 Value will be clamped between [0...1], where 0.0f means no vibration, and 1.0 means full
+     * vibration.
+     */
+    UFUNCTION(BlueprintCallable, Category="SenseGlove | Components | Haptics Component")
+    static bool QueueVibroLevel(UPARAM(ref) USGHapticsComponent* HapticsComponent,
+                                ESGHapticLocation Location, float Level01);
+};