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


#pragma once

#include "Containers/UnrealString.h"
#include "HAL/Platform.h"
#include "Math/Vector.h"
#include "Templates/UniquePtr.h"
#include "UObject/Object.h"
#include "UObject/ObjectMacros.h"

#include "SGTypes/SGCoreTypes.h"

#include "SGSenseGloveHandProfile.generated.h"

class FSGSenseGloveHandProfileImpl;
class USGHandInterpolator;

/**
 * Contains everything a Sense Glove needs to calculate a HandPose.
 */
UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGSenseGloveHandProfile final : public UObject
{
    GENERATED_BODY()

public:
    static USGSenseGloveHandProfile* NewSenseGloveHandProfile(
        UObject* Outer, const FSGSenseGloveHandProfileImpl& SenseGloveHandProfileImpl);

public:
    /**
     *  The basic constructor.
     */
    static USGSenseGloveHandProfile* NewSenseGloveHandProfile(UObject* Outer);

    /**
     * Create a new Hand Profile for the Sense Glove.
     */
    static USGSenseGloveHandProfile* NewSenseGloveHandProfile(
        UObject* Outer, bool bRightHanded, const USGHandInterpolator* Interpolator,
        ESGThumbSolver ThumbSolver, ESGFingerSolver FingerSolver, const TArray<FVector>& FingerThimbleOffset);

public:
    /**
     * Retrieve a 'new' profile, for either a left or right hand.
     */
    static USGSenseGloveHandProfile* Default(UObject* Outer, bool bRightHanded);

    /**
     * Deserialize a HandProfile back into usable values.
     */
    static USGSenseGloveHandProfile* Deserialize(UObject* Outer, const FString& SerializedString);

public:
    /**
     * Default offset from thimble to fingertip.
     */
    static FVector GetDefaultThimbleOffset();

private:
    struct FImpl;

    struct FImplDeleter
    {
        void operator()(const FImpl* P) const;
    };

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    /**
     * The basic constructor.
     */
    USGSenseGloveHandProfile();

    /**
     * Create a new Hand Profile for the Sense Glove.
     */
    USGSenseGloveHandProfile(bool bRightHanded, const USGHandInterpolator* Interpolator,
                             ESGThumbSolver ThumbSolver, ESGFingerSolver FingerSolver,
                             const TArray<FVector>& FingerThimbleOffset);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit USGSenseGloveHandProfile(const FSGSenseGloveHandProfileImpl& SenseGloveHandProfileImpl);

public:
    /**
     * The destructor.
     */
    virtual ~USGSenseGloveHandProfile() override;

protected:
    /**
     * Allows to set the underlying object after construction.
     */
    void SetSenseGloveHandProfileImpl(const FSGSenseGloveHandProfileImpl& SenseGloveHandProfileImpl);

public:
    /**
     * The cast to underlying type method.
     */
    const FSGSenseGloveHandProfileImpl& ToSenseGloveHandProfileImpl() const;

public:
    /**
     * Check whether this profile has been created for a right hand (true) or left hand (false).
     */
    bool IsRight() const;

    /**
     * Interpolation set to estimate joint angles.
     */
    USGHandInterpolator* GetInterpolationSet(UObject* Outer) const;

    /**
     * Solver property that determines _how_ HandPoses are calculated.
     */
    ESGThumbSolver GetThumbSolver() const;

    /**
     * Solver property that determines _how_ finger poses are calculated.
     */
    ESGFingerSolver GetFingerSolver() const;

    /**
     * Offset from thimble to fingertip, used for Inverse Kinematics.
     */
    TArray<FVector> GetFingerThimbleOffset() const;

public:
    /**
     *
     */
    bool Equals(const USGSenseGloveHandProfile* SenseGloveHandProfile) const;

    /**
     * Reset calibration on this profile.
     */
    void Reset();

public:
    /**
     * Serialize this HandProfile into a string representation.
     */
    FString SGSerialize() const;
};