/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2023 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 "Containers/UnrealString.h"
#include "Templates/UniquePtr.h"

#include "SGBuildHacks/SGPlatform.h"
#include "SGTypes/SGCoreTypes.h"

class FSGHandInterpolatorImpl;

namespace SGCore
{
    class HandPose;
}

class FSGBasicHandModelImpl;

class SENSEGLOVECOREIMPL_API FSGHandPoseImpl final
{
public:
    typedef SGCore::HandPose FHandPoseType;

public:
    static FSGHandPoseImpl Deserialize(const FString& SerializedString);

    static FSGHandPoseImpl FromHandAngles(const TArray<TArray<FVector>>& HandAngles, bool bRightHanded,
                                          const FSGBasicHandModelImpl& HandDimensions);

    static FSGHandPoseImpl FromHandAngles(const TArray<TArray<FVector>>& HandAngles, bool bRightHanded);

    static FSGHandPoseImpl DefaultIdle(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);

    static FSGHandPoseImpl DefaultIdle(bool bRightHanded);

    static FSGHandPoseImpl FlatHand(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);

    static FSGHandPoseImpl FlatHand(bool bRightHanded);

    static FSGHandPoseImpl ThumbsUp(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);

    static FSGHandPoseImpl ThumbsUp(bool bRightHanded);

    static FSGHandPoseImpl Fist(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);

    static FSGHandPoseImpl Fist(bool bRightHanded);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGHandPoseImpl();

    FSGHandPoseImpl(bool bRightHanded, const TArray<TArray<FVector>>& JointPositions,
                    const TArray<TArray<FQuat>>& JointRotations,
                    const TArray<TArray<FVector>>& HandAngles);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGHandPoseImpl(const FHandPoseType& SenseGloveHandPose);

public:
    /**
     * The copy constructor.
     */
    FSGHandPoseImpl(const FSGHandPoseImpl& Rhs);

    /**
     * The move constructor.
     */
    FSGHandPoseImpl(FSGHandPoseImpl&& Rhs) SG_NOEXCEPT;

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

public:
    /**
     * The copy assignment operator.
     */
    FSGHandPoseImpl& operator=(const FSGHandPoseImpl& Rhs);

    /**
     * The move assignment operator.
     */
    FSGHandPoseImpl& operator=(FSGHandPoseImpl&& Rhs) SG_NOEXCEPT;

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

public:
    bool IsRight() const;

    TArray<TArray<FVector>> GetJointPositions() const;

    TArray<TArray<FQuat>> GetJointRotations() const;

    TArray<TArray<FVector>> GetHandAngles() const;

public:
    bool Equals(const FSGHandPoseImpl& HandPoseImpl) const;

    float GetNormalizedFlexion(ESGFinger Finger, bool bClamp01 = true) const;

    TArray<float> GetNormalizedFlexion(bool bClamp01 = true) const;

public:
    FString ToString(bool bShortFormat = false) const;

    FString Serialize() const;
};