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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 15:02:38 +01:00
parent 1de0f05e7d
commit ff8cd3b4b6
10 changed files with 546 additions and 27 deletions
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Source/SenseGloveCore/Private/SGCore/SGSenseGlove.cpp
+41 -2
View File
@@ -47,6 +47,7 @@
#include "SGInterop/SGIC_ESGDeviceType.h"
#include "SGInterop/SGIC_ESGFinger.h"
#include "SGInterop/SGIC_ESGPositionalTrackingHardware.h"
#include "SGInterop/SGIC_ESGSenseGloveThumperCommand.h"
#include "SGInterop/SGIC_FQuat.h"
#include "SGInterop/SGIC_FSGBasicHandModelImpl.h"
#include "SGInterop/SGIC_FSGBuzzCommandImpl.h"
@@ -692,13 +693,50 @@ bool USGSenseGlove::GetHandPose(UObject* Outer, const USGHandProfile* HandProfil
return bResult;
}
bool USGSenseGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand, const USGBuzzCommand* BuzzCommand,
ESGSenseGloveThumperCommand ThumperCommand)
{
SyncImplObject();
FSGIC_TSharedPtr_FSGSenseGloveImpl InstanceContainer{ToSenseGloveImpl()};
FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()
};
FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{
BuzzCommand->ToBuzzCommandImpl().Get()
};
FSGIC_ESGSenseGloveThumperCommand ThumperCommandContainer{ThumperCommand};
const bool bResult =
SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand_ESenseGloveThumperCommand(
&InstanceContainer, &ForceFeedbackCommandContainer, &BuzzCommandContainer, &ThumperCommandContainer);
SyncUProperties();
return bResult;
}
bool USGSenseGlove::SendHaptics(ESGSenseGloveThumperCommand ThumperCommand)
{
SyncImplObject();
FSGIC_TSharedPtr_FSGSenseGloveImpl InstanceContainer{ToSenseGloveImpl()};
FSGIC_ESGSenseGloveThumperCommand ThumperCommandContainer{ThumperCommand};
const bool bResult = SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ThumperCommand(
&InstanceContainer, &ThumperCommandContainer);
SyncUProperties();
return bResult;
}
void USGSenseGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand)
{
SyncImplObject();
FSGIC_TSharedPtr_FSGSenseGloveImpl InstanceContainer{ToSenseGloveImpl()};
FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()
};
SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand(&InstanceContainer, &ForceFeedbackCommandContainer);
SyncUProperties();
@@ -723,7 +761,8 @@ void USGSenseGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackComm
FSGIC_TSharedPtr_FSGSenseGloveImpl InstanceContainer{ToSenseGloveImpl()};
FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()
};
FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
FSGIC_FSGThumperCommandImpl ThumperCommandContainer{ThumperCommand->ToThumperCommandImpl()};
SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand_ThumperCommand(
Source/SenseGloveCore/Public/SGCore/SGSenseGlove.h
+179 -2
View File
@@ -29,7 +29,8 @@
*
* @section DESCRIPTION
*
*
* An interface for the Sense Glove exoskeleton glove.
* Contains methods for Kinematics, Haptics and Serialization.
*/
@@ -56,6 +57,9 @@ class FSGSenseGloveImpl;
class USGBuzzCommand;
class USGForceFeedbackCommand;
/**
* Interface for the Sense Glove; and exoskeleton Force-Feedback glove.
*/
UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGSenseGlove final : public USGHapticGlove
{
@@ -67,56 +71,108 @@ public:
static USGSenseGlove* NewSenseGlove(UObject* Outer, TSharedRef<FSGSenseGloveImpl> SenseGloveImpl);
public:
/**
*
*/
static USGSenseGlove* NewSenseGlove(UObject* Outer);
/**
* Create a new instance of a Sense Glove.
*/
static USGSenseGlove* NewSenseGlove(UObject* Outer, const USGSenseGloveInfo& Model);
public:
/**
* Byte indicating a new Sense Glove haptic command.
*/
static ANSICHAR GetHapticsByte();
/**
* Byte indicating a new Thumper command.
*/
static ANSICHAR GetThumperByte();
public:
/**
* Calculates a GlovePose based on sensor angles and a glove model.
*
* @remarks Use this when you already have gloveAngles collected.
*/
static USGSenseGlovePose* CalculateGlovePose(UObject* Outer,
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.
*/
static USGSenseGlovePose* CalculateGlovePose(UObject* Outer,
const TArray<TArray<FVector>>& GloveAngles,
const USGSenseGloveInfo* GloveModel);
/**
* @remarks Use this when you already have a GlovePose.
*/
static USGHandPose* CalculateHandPose(UObject* Outer,
const USGSenseGlovePose* GlovePose,
const USGBasicHandModel* HandModel,
const USGSenseGloveHandProfile* Profile);
public:
/**
* Deserializes a Sense Glove from its ConstantsString. Returns a nullptr if unsuccessful.
*/
static USGDevice* Parse(UObject* Outer, const FString& ConstantsString);
/**
* Retrieve all Sense Gloves connected to this system.
*/
static TArray<USGSenseGlove*> GetSenseGloves(UObject* Outer);
/**
* Retrieve the first connected Sense Glove there is.
*/
static bool GetSenseGlove(UObject* Outer, USGSenseGlove*& OutGlove);
/**
* Retrieve the first (connected) right or left handed sense glove.
*/
static bool GetSenseGlove(UObject* Outer, bool bRightHanded, USGSenseGlove*& OutGlove);
public:
/**
* Convert a SenseGlove GlovePose into calibrationValues.
*/
static TArray<FVector> GetCalibrationValues(const USGSenseGlovePose* GlovePose);
/**
* Apply interpolation values to the correct fields in the SenseGlove Profile, based on min/max sensor values.
*/
static void CalibrateInterpolation(UObject* Outer,
const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
bool bRightHanded, USGSenseGloveHandProfile*& OutProfile);
public:
/**
* Retrieve the location of the glove origin, based on a reference location without requiring an object reference.
*/
static void CalculateGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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.
*/
static void CalculateGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
bool bRightHanded, ESGFinger MountedOn,
FVector& OutGlovePosition, FRotator& OutGloveRotation);
/**
* Calculates the full wrist location.
*/
static void CalculateWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
bool bRightHanded, ESGFinger MountedOn,
@@ -124,6 +180,9 @@ public:
const FQuat& GloveWristRotationOffset,
FVector& OutWristPosition, FQuat& OutWristRotation);
/**
* Calculates the full wrist location.
*/
static void CalculateWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
bool bRightHanded, ESGFinger MountedOn,
@@ -143,8 +202,14 @@ private:
FImplDeleter PimplDeleter;
protected:
/**
*
*/
USGSenseGlove();
/**
* Create a new instance of a Sense Glove.
*/
explicit USGSenseGlove(const USGSenseGloveInfo& Model);
public:
@@ -203,94 +268,203 @@ protected:
virtual void SyncUProperties() override;
public:
/**
* Retrieve this glove's hardware model, which contains its hardware data.
*/
USGSenseGloveInfo* GetGloveModel(UObject* Outer) const;
/**
* 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.
*/
virtual bool IsRight() const override;
public:
/**
* Get the DeviceType enumerator of this SenseGlove, used in DeviceList enumeration.
*/
virtual ESGDeviceType GetDeviceType() const override;
/**
* Retrieve this Sense Glove's unique identifier.
*/
virtual FString GetDeviceId() const override;
/**
* Retrieve this glove's hardware (sub) version.
*/
virtual FString GetHardwareVersion() const override;
/**
* Retrieve this device's firmware version.
*/
virtual int32 GetFirmwareVersion() const override;
/**
* Retrieve this device's sub-firmware version.
*/
virtual int32 GetSubFirmwareVersion() const override;
public:
/**
* Get the latest Sensor Data from this Sense Glove.
*/
bool GetSensorData(UObject* Outer, USGSenseGloveSensorData*& OutSensorData) const;
/**
*
*/
virtual bool GetImuRotation(FQuat& OutImu) override;
/**
*
*/
virtual bool GetImuRotation(FRotator& OutImu) override;
/**
* Get the pose of this Sense Glove's hardware, based on its latest Sensor Data.
*/
bool GetGlovePose(UObject* Outer, USGSenseGlovePose*& OutGlovePose);
/**
* Get the pose of this Sense Glove's hardware based on a set of Sensor Data.
*/
bool GetGlovePose(UObject* Outer, const USGSenseGloveSensorData* SensorData, USGSenseGlovePose*& OutGlovePose);
/// HACK
/// 'FSGSenseGloveImpl::GetHandPose' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
/// tell the compiler we want both the GetHandPose from FSGHapticGloveImpl and FSGSenseGloveImpl
/// tell the compiler we want both the GetHandPose from USGHapticGlove and USGSenseGlove
using USGHapticGlove::GetHandPose;
/**
* Retrieve a new hand pose using this glove's data, based on (calibrated) user data.
*/
bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandModel, const USGSenseGloveHandProfile* Profile,
USGHandPose*& OutHandPose);
/**
* Calculate the Hand Pose of this device, provided it has Hand Tracking available.
*/
virtual bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandGeometry, const USGHandProfile* HandProfile,
USGHandPose*& OutHandPose) override;
/**
* Calculate the HandPose of this Device, taking into account user values, but not hand geometry.
*/
virtual bool GetHandPose(UObject* Outer, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose) override;
public:
/// HACK
/// 'USGSenseGlove::SendHaptics' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
/// tell the compiler we want both the SendHaptics from USGHapticGlove and USGSenseGlove
using USGHapticGlove::SendHaptics;
/**
* Set the level(s) of Force and Vibrotactile feedback, with an optional thumper command.
*/
bool SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
const USGBuzzCommand* BuzzCommand,
ESGSenseGloveThumperCommand ThumperCommand = ESGSenseGloveThumperCommand::None);
/**
* Send a thumper command.
*/
bool SendHaptics(ESGSenseGloveThumperCommand ThumperCommand);
/**
* Send Haptic Commands to this Glove.
*/
virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand) override;
/**
* Send Haptic Commands to this Glove.
*/
virtual void SendHaptics(const USGBuzzCommand* BuzzCommand) override;
/**
* Retrieve this device's firmware version.
*/
virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
const USGBuzzCommand* BuzzCommand,
const USGThumperCommand* ThumperCommand) override;
public:
/**
* Retrieve calibration values of this glove, as an array of size 5, containing x (roll), y (flexion), z (abduction) values.
*/
virtual bool GetCalibrationValues(TArray<FVector>& OutValues) override;
/**
* Reset the glove's calibration range.
*/
virtual void ResetCalibrationRange() override;
/**
* Apply this glove's calibration range to a handProfile.
*/
virtual void ApplyCalibration(UObject* Outer, USGHandProfile*& OutProfile) const override;
/**
* Apply this glove's calibration range to a SenseGloveHandProfile.
*/
void ApplyCalibration(UObject* Outer, USGSenseGloveHandProfile*& OutProfile) const;
public:
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
virtual void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutGlovePosition, FQuat& OutGloveRotation) const override;
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
virtual void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutGlovePosition, FRotator& OutGloveRotation) const override;
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
FVector& OutGlovePosition, FQuat& OutGloveRotation) const;
/**
* Retrieve the location of the glove origin, based on a reference location.
*/
void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
FVector& OutGlovePosition, FRotator& OutGloveRotation) const;
/**
* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
*/
virtual void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutWristPosition, FQuat& OutWristRotation) const override;
/**
*
*/
virtual void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
FVector& OutWristPosition, FRotator& OutWristRotation) const override;
/**
*
*/
void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
const FVector& GloveWristPositionOffset,
const FQuat& GloveWristRotationOffset,
FVector& OutWristPosition, FQuat& OutWristRotation) const;
/**
*
*/
void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
ESGPositionalTrackingHardware TrackingHardware,
const FVector& GloveWristPositionOffset,
@@ -298,5 +472,8 @@ public:
FVector& OutWristPosition, FRotator& OutWristRotation) const;
public:
/**
*
*/
virtual FString ToString() const override;
};
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGCoreEnumCast.cpp
+64
View File
@@ -354,6 +354,70 @@ ESGPositionalTrackingHardware FSGCoreEnumCast::ToESGPositionalTrackingHardware(c
return ESGPositionalTrackingHardware::None;
}
FSGCoreEnumCast::FESenseGloveThumperCommandType FSGCoreEnumCast::ToESenseGloveThumperCommand(
const ESGSenseGloveThumperCommand Enum)
{
switch (Enum)
{
case ESGSenseGloveThumperCommand::None:
return FESenseGloveThumperCommandType::None;
case ESGSenseGloveThumperCommand::TurnOff:
return FESenseGloveThumperCommandType::TurnOff;
case ESGSenseGloveThumperCommand::CueGameOver:
return FESenseGloveThumperCommandType::CueGameOver;
case ESGSenseGloveThumperCommand::ButtonDouble100:
return FESenseGloveThumperCommandType::ButtonDouble100;
case ESGSenseGloveThumperCommand::ButtonDouble60:
return FESenseGloveThumperCommandType::ButtonDouble60;
case ESGSenseGloveThumperCommand::ImpactThump30:
return FESenseGloveThumperCommandType::ImpactThump30;
case ESGSenseGloveThumperCommand::ImpactThump10:
return FESenseGloveThumperCommandType::ImpactThump10;
case ESGSenseGloveThumperCommand::ImpactThump100:
return FESenseGloveThumperCommandType::ImpactThump100;
case ESGSenseGloveThumperCommand::ObjectGrasp100:
return FESenseGloveThumperCommandType::ObjectGrasp100;
case ESGSenseGloveThumperCommand::ObjectGrasp60:
return FESenseGloveThumperCommandType::ObjectGrasp60;
case ESGSenseGloveThumperCommand::ObjectGrasp30:
return FESenseGloveThumperCommandType::ObjectGrasp30;
}
// Keep the compiler satisfied!
return FESenseGloveThumperCommandType::None;
}
ESGSenseGloveThumperCommand FSGCoreEnumCast::ToESGSenseGloveThumperCommand(const FESenseGloveThumperCommandType Enum)
{
switch (Enum)
{
case FESenseGloveThumperCommandType::None:
return ESGSenseGloveThumperCommand::None;
case FESenseGloveThumperCommandType::TurnOff:
return ESGSenseGloveThumperCommand::TurnOff;
case FESenseGloveThumperCommandType::CueGameOver:
return ESGSenseGloveThumperCommand::CueGameOver;
case FESenseGloveThumperCommandType::ButtonDouble100:
return ESGSenseGloveThumperCommand::ButtonDouble100;
case FESenseGloveThumperCommandType::ButtonDouble60:
return ESGSenseGloveThumperCommand::ButtonDouble60;
case FESenseGloveThumperCommandType::ImpactThump30:
return ESGSenseGloveThumperCommand::ImpactThump30;
case FESenseGloveThumperCommandType::ImpactThump10:
return ESGSenseGloveThumperCommand::ImpactThump10;
case FESenseGloveThumperCommandType::ImpactThump100:
return ESGSenseGloveThumperCommand::ImpactThump100;
case FESenseGloveThumperCommandType::ObjectGrasp100:
return ESGSenseGloveThumperCommand::ObjectGrasp100;
case FESenseGloveThumperCommandType::ObjectGrasp60:
return ESGSenseGloveThumperCommand::ObjectGrasp60;
case FESenseGloveThumperCommandType::ObjectGrasp30:
return ESGSenseGloveThumperCommand::ObjectGrasp30;
}
return ESGSenseGloveThumperCommand::None;
}
FSGCoreEnumCast::FEThumbMovementType FSGCoreEnumCast::ToEThumbMovement(const ESGThumbMovement Enum)
{
switch (Enum)
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGCoreEnumCast.h
+26 -20
View File
@@ -36,6 +36,7 @@
#pragma once
#include <SenseGlove/Core/Fingers.hpp>
#include <SenseGlove/Core/SenseGloveThumperCommand.hpp>
#include "SGBuildHacks/SGInclude_Core_Fingers.h"
#include "SGBuildHacks/SGInclude_Core_HapticGloveCalibrationCheck.h"
@@ -43,6 +44,7 @@
#include "SGBuildHacks/SGInclude_Core_SenseGloveHandProfile.h"
#include "SGBuildHacks/SGInclude_Core_SGDevice.h"
#include "SGBuildHacks/SGInclude_Core_Tracking.h"
#include "SGCoreImpl/SGHapticGloveCommandBufferImpl.h"
#include "SGTypes/SGCoreTypes.h"
class SENSEGLOVECOREIMPL_API FSGCoreEnumCast
@@ -56,37 +58,41 @@ public:
typedef SGCore::Kinematics::EFingerMovement FEFingerMovementType;
typedef SGCore::SG::EFingerSolver FEFingerSolverType;
typedef SGCore::EPositionalTrackingHardware FEPositionalTrackingHardware;
typedef SGCore::Haptics::ESenseGloveThumperCommand FESenseGloveThumperCommandType;
typedef SGCore::Kinematics::EThumbMovement FEThumbMovementType;
typedef SGCore::SG::EThumbSolver FEThumbSolverType;
public:
static FEBackendType ToEBackendType(const ESGBackendType Enum);
static ESGBackendType ToESGBackendType(const FEBackendType Enum);
static FEBackendType ToEBackendType(ESGBackendType Enum);
static ESGBackendType ToESGBackendType(FEBackendType Enum);
static FECalibrationStageType ToECalibrationStage(const ESGCalibrationStage Enum);
static ESGCalibrationStage ToESGCalibrationStage(const FECalibrationStageType Enum);
static FECalibrationStageType ToECalibrationStage(ESGCalibrationStage Enum);
static ESGCalibrationStage ToESGCalibrationStage(FECalibrationStageType Enum);
static FEConnectionType ToEConnectionType(const ESGConnectionType Enum);
static ESGConnectionType ToESGConnectionType(const FEConnectionType Enum);
static FEConnectionType ToEConnectionType(ESGConnectionType Enum);
static ESGConnectionType ToESGConnectionType(FEConnectionType Enum);
static FEDeviceType ToEDeviceType(const ESGDeviceType Enum);
static ESGDeviceType ToESGDeviceType(const FEDeviceType Enum);
static FEDeviceType ToEDeviceType(ESGDeviceType Enum);
static ESGDeviceType ToESGDeviceType(FEDeviceType Enum);
static FEFingerType ToEFinger(const ESGFinger Enum);
static ESGFinger ToESGFinger(const FEFingerType Enum);
static FEFingerType ToEFinger(ESGFinger Enum);
static ESGFinger ToESGFinger(FEFingerType Enum);
static FEFingerMovementType ToEFingerMovement(const ESGFingerMovement Enum);
static ESGFingerMovement ToESGFingerMovement(const FEFingerMovementType Enum);
static FEFingerMovementType ToEFingerMovement(ESGFingerMovement Enum);
static ESGFingerMovement ToESGFingerMovement(FEFingerMovementType Enum);
static FEFingerSolverType ToEFingerSolver(const ESGFingerSolver Enum);
static ESGFingerSolver ToESGFingerSolver(const FEFingerSolverType Enum);
static FEFingerSolverType ToEFingerSolver(ESGFingerSolver Enum);
static ESGFingerSolver ToESGFingerSolver(FEFingerSolverType Enum);
static FEPositionalTrackingHardware ToEPositionalTrackingHardware(const ESGPositionalTrackingHardware Enum);
static ESGPositionalTrackingHardware ToESGPositionalTrackingHardware(const FEPositionalTrackingHardware Enum);
static FEPositionalTrackingHardware ToEPositionalTrackingHardware(ESGPositionalTrackingHardware Enum);
static ESGPositionalTrackingHardware ToESGPositionalTrackingHardware(FEPositionalTrackingHardware Enum);
static FEThumbMovementType ToEThumbMovement(const ESGThumbMovement Enum);
static ESGThumbMovement ToESGThumbMovement(const FEThumbMovementType Enum);
static FESenseGloveThumperCommandType ToESenseGloveThumperCommand(ESGSenseGloveThumperCommand Enum);
static ESGSenseGloveThumperCommand ToESGSenseGloveThumperCommand(FESenseGloveThumperCommandType Enum);
static FEThumbSolverType ToEThumbSolver(const ESGThumbSolver Enum);
static ESGThumbSolver ToESGThumbSolver(const FEThumbSolverType Enum);
static FEThumbMovementType ToEThumbMovement(ESGThumbMovement Enum);
static ESGThumbMovement ToESGThumbMovement(FEThumbMovementType Enum);
static FEThumbSolverType ToEThumbSolver(ESGThumbSolver Enum);
static ESGThumbSolver ToESGThumbSolver(FEThumbSolverType Enum);
};
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGExportedFunctions.cpp
+20
View File
@@ -5033,6 +5033,26 @@ bool SGCoreImpl_FSGSenseGloveImpl_GetHandPose_HandProfile_OutHandPose(
StaticCast<FSGIC_FSGHandPoseImpl*>(OutHandPose)->HandPoseImpl);
}
bool SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand_ESenseGloveThumperCommand(
void* Instance,
void* ForceFeedbackCommand,
void* BuzzCommand,
void* ThumperCommand)
{
return StaticCast<FSGIC_TSharedPtr_FSGSenseGloveImpl*>(Instance)->Ptr->SendHaptics(
StaticCast<FSGIC_FSGForceFeedbackCommandImpl*>(ForceFeedbackCommand)->ForceFeedbackCommandImpl,
StaticCast<FSGIC_FSGBuzzCommandImpl*>(BuzzCommand)->BuzzCommandImpl,
StaticCast<FSGIC_ESGSenseGloveThumperCommand*>(ThumperCommand)->Command);
}
bool SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ThumperCommand(
void* Instance,
void* ThumperCommand)
{
return StaticCast<FSGIC_TSharedPtr_FSGSenseGloveImpl*>(Instance)->Ptr->SendHaptics(
StaticCast<FSGIC_ESGSenseGloveThumperCommand*>(ThumperCommand)->Command);
}
void SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand(
void* Instance,
void* ForceFeedbackCommand)
Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGSenseGloveImpl.cpp
+14
View File
@@ -426,6 +426,20 @@ bool FSGSenseGloveImpl::GetHandPose(const FSGHandProfileImpl& HandProfile, FSGHa
return bResult;
}
bool FSGSenseGloveImpl::SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
const FSGBuzzCommandImpl& BuzzCommand,
ESGSenseGloveThumperCommand ThumperCommand)
{
return ToSenseGlovePtrChecked()->SendHaptics(ForceFeedbackCommand.ToForceFeedbackCommand(),
BuzzCommand.ToBuzzCommand(),
FSGCoreEnumCast::ToESenseGloveThumperCommand(ThumperCommand));
}
bool FSGSenseGloveImpl::SendHaptics(ESGSenseGloveThumperCommand ThumperCommand)
{
return ToSenseGlovePtrChecked()->SendHaptics(FSGCoreEnumCast::ToESenseGloveThumperCommand(ThumperCommand));
}
void FSGSenseGloveImpl::SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand)
{
ToSenseGlovePtrChecked()->SendHaptics(ForceFeedbackCommand.ToForceFeedbackCommand());
Source/SenseGloveCoreImpl/Public/SGCoreImpl/SGExportedFunctions.h
+13 -1
View File
@@ -2522,6 +2522,17 @@ SENSEGLOVECOREIMPL_PUBLIC_API bool SGCoreImpl_FSGSenseGloveImpl_GetHandPose_Hand
void* HandProfile,
void* OutHandPose);
SENSEGLOVECOREIMPL_PUBLIC_API bool
SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand_ESenseGloveThumperCommand(
void* Instance,
void* ForceFeedbackCommand,
void* BuzzCommand,
void* ThumperCommand);
SENSEGLOVECOREIMPL_PUBLIC_API bool SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ThumperCommand(
void* Instance,
void* ThumperCommand);
SENSEGLOVECOREIMPL_PUBLIC_API void SGCoreImpl_FSGSenseGloveImpl_SendHaptics_ForceFeedbackCommand(
void* Instance,
void* ForceFeedbackCommand);
@@ -3236,7 +3247,8 @@ SENSEGLOVECOREIMPL_PUBLIC_API void SGCoreImpl_FSGTimedBuzzCommandImpl_ctor_BaseC
float DurationSeconds,
float StartTimeSeconds);
SENSEGLOVECOREIMPL_PUBLIC_API void SGCoreImpl_FSGTimedBuzzCommandImpl_ctor_BaseCommand_DurationSeconds_StartTimeSeconds_MakeShared(
SENSEGLOVECOREIMPL_PUBLIC_API void
SGCoreImpl_FSGTimedBuzzCommandImpl_ctor_BaseCommand_DurationSeconds_StartTimeSeconds_MakeShared(
void* OutSharedPtr,
void* BaseCommand,
float DurationSeconds,
Source/SenseGloveCoreImpl/Public/SGCoreImpl/SGSenseGloveImpl.h
+11
View File
@@ -236,6 +236,17 @@ public:
virtual bool GetHandPose(const FSGHandProfileImpl& HandProfile, FSGHandPoseImpl& OutHandPose) override;
public:
/// HACK
/// 'FSGSenseGloveImpl::SendHaptics' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
/// tell the compiler we want both the SendHaptics from FSGHapticGloveImpl and FSGSenseGloveImpl
using FSGHapticGloveImpl::SendHaptics;
bool SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
const FSGBuzzCommandImpl& BuzzCommand,
ESGSenseGloveThumperCommand ThumperCommand = ESGSenseGloveThumperCommand::None);
bool SendHaptics(ESGSenseGloveThumperCommand ThumperCommand);
virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand) override;
virtual void SendHaptics(const FSGBuzzCommandImpl& BuzzCommand) override;
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);
};