302 lines
12 KiB
C++
302 lines
12 KiB
C++
/**
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* @file
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*
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* @author Mamadou Babaei <mamadou@senseglove.com>
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*
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* @section LICENSE
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*
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* (The MIT License)
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*
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* Copyright (c) 2020 - 2022 SenseGlove
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @section DESCRIPTION
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*
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*
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*/
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#pragma once
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#include "SGHapticGlove.h"
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#include "Containers/Array.h"
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#include "HAL/Platform.h"
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#include "Math/Quat.h"
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#include "Math/Vector.h"
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#include "SGCore/SGBasicHandModel.h"
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#include "SGCore/SGHandPose.h"
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#include "SGCore/SGHandProfile.h"
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#include "SGCore/SGHapticGlove.h"
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#include "SGCore/SGSenseGlovePose.h"
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#include "SGCore/SGSenseGloveSensorData.h"
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#include "SGCore/SGThumperCommand.h"
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#include "SGTypes/SGCoreTypes.h"
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#include "SGSenseGlove.generated.h"
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class FSGSenseGloveImpl;
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class USGBuzzCommand;
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class USGForceFeedbackCommand;
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UCLASS(BlueprintType)
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class SENSEGLOVECORE_API USGSenseGlove final : public USGHapticGlove
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{
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GENERATED_BODY()
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public:
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static USGSenseGlove* NewSenseGlove(UObject* Outer, const FSGSenseGloveImpl& SenseGloveImpl);
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static USGSenseGlove* NewSenseGlove(UObject* Outer, TSharedRef<FSGSenseGloveImpl> SenseGloveImpl);
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public:
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static USGSenseGlove* NewSenseGlove(UObject* Outer);
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static USGSenseGlove* NewSenseGlove(UObject* Outer, const USGSenseGloveInfo& Model);
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public:
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static ANSICHAR GetHapticsByte();
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static ANSICHAR GetThumperByte();
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public:
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static USGSenseGlovePose* CalculateGlovePose(UObject* Outer,
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const USGSenseGloveSensorData* SensorData,
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const USGSenseGloveInfo* GloveModel);
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static USGSenseGlovePose* CalculateGlovePose(UObject* Outer,
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const TArray<TArray<FVector>>& GloveAngles,
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const USGSenseGloveInfo* GloveModel);
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static USGHandPose* CalculateHandPose(UObject* Outer,
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const USGSenseGlovePose* GlovePose,
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const USGBasicHandModel* HandModel,
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const USGSenseGloveHandProfile* Profile);
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public:
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static USGDevice* Parse(UObject* Outer, const FString& ConstantsString);
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static TArray<USGSenseGlove*> GetSenseGloves(UObject* Outer);
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static bool GetSenseGlove(UObject* Outer, USGSenseGlove*& OutGlove);
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static bool GetSenseGlove(UObject* Outer, bool bRightHanded, USGSenseGlove*& OutGlove);
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public:
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static TArray<FVector> GetCalibrationValues(const USGSenseGlovePose* GlovePose);
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static void CalibrateInterpolation(UObject* Outer,
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const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
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bool bRightHanded, USGSenseGloveHandProfile*& OutProfile);
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public:
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static void CalculateGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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bool bRightHanded, ESGFinger MountedOn,
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FVector& OutGlovePosition, FQuat& OutGloveRotation);
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static void CalculateGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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bool bRightHanded, ESGFinger MountedOn,
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FVector& OutGlovePosition, FRotator& OutGloveRotation);
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static void CalculateWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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bool bRightHanded, ESGFinger MountedOn,
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const FVector& GloveWristPositionOffset,
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const FQuat& GloveWristRotationOffset,
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FVector& OutWristPosition, FQuat& OutWristRotation);
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static void CalculateWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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bool bRightHanded, ESGFinger MountedOn,
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const FVector& GloveWristPositionOffset,
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const FRotator& GloveWristRotationOffset,
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FVector& OutWristPosition, FRotator& OutWristRotation);
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private:
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struct FImpl;
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struct FImplDeleter
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{
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void operator()(const FImpl* P) const;
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};
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TUniquePtr<FImpl, FImplDeleter> Pimpl;
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FImplDeleter PimplDeleter;
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protected:
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USGSenseGlove();
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explicit USGSenseGlove(const USGSenseGloveInfo& Model);
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public:
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/**
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* The cast from underlying parent type constructor.
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*/
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explicit USGSenseGlove(const FSGDeviceImpl& SGDeviceImpl);
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/**
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* The cast from underlying parent type constructor.
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*/
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explicit USGSenseGlove(const FSGHapticGloveImpl& HapticGloveImpl);
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/**
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* The cast from underlying type constructor.
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*/
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explicit USGSenseGlove(const FSGSenseGloveImpl& SenseGloveImpl);
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protected:
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/**
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* The cast from underlying parent pointer type constructor.
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*/
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explicit USGSenseGlove(TSharedRef<FSGDeviceImpl> SGDeviceImpl);
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/**
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* The cast from underlying parent pointer type constructor.
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*/
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explicit USGSenseGlove(TSharedRef<FSGHapticGloveImpl> HapticGloveImpl);
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/**
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* The cast from underlying pointer type constructor.
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*/
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explicit USGSenseGlove(TSharedRef<FSGSenseGloveImpl> SenseGloveImpl);
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public:
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/**
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* The destructor.
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*/
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virtual ~USGSenseGlove() override;
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public:
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/**
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* The cast to underlying type method.
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*/
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TSharedRef<FSGSenseGloveImpl> ToSenseGloveImpl() const;
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protected:
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/**
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* Allows the child classes to synchronize the parent's underlying object at any time.
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*/
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virtual void SyncImplObject() const override;
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/**
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* Allows the child classes to synchronize the parent's uproperties at any time.
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*/
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virtual void SyncUProperties() override;
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public:
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USGSenseGloveInfo* GetGloveModel(UObject* Outer) const;
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virtual bool IsRight() const override;
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public:
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virtual ESGDeviceType GetDeviceType() const override;
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virtual FString GetDeviceId() const override;
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virtual FString GetHardwareVersion() const override;
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virtual int32 GetFirmwareVersion() const override;
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virtual int32 GetSubFirmwareVersion() const override;
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public:
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bool GetSensorData(UObject* Outer, USGSenseGloveSensorData*& OutSensorData) const;
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virtual bool GetImuRotation(FQuat& OutImu) override;
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virtual bool GetImuRotation(FRotator& OutImu) override;
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bool GetGlovePose(UObject* Outer, USGSenseGlovePose*& OutGlovePose);
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bool GetGlovePose(UObject* Outer, const USGSenseGloveSensorData* SensorData, USGSenseGlovePose*& OutGlovePose);
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/// HACK
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/// 'FSGSenseGloveImpl::GetHandPose' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
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/// tell the compiler we want both the GetHandPose from FSGHapticGloveImpl and FSGSenseGloveImpl
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using USGHapticGlove::GetHandPose;
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bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandModel, const USGSenseGloveHandProfile* Profile,
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USGHandPose*& OutHandPose);
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virtual bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandGeometry, const USGHandProfile* HandProfile,
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USGHandPose*& OutHandPose) override;
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virtual bool GetHandPose(UObject* Outer, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose) override;
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public:
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virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand) override;
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virtual void SendHaptics(const USGBuzzCommand* BuzzCommand) override;
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virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
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const USGBuzzCommand* BuzzCommand,
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const USGThumperCommand* ThumperCommand) override;
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public:
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virtual bool GetCalibrationValues(TArray<FVector>& OutValues) override;
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virtual void ResetCalibrationRange() override;
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virtual void ApplyCalibration(UObject* Outer, USGHandProfile*& OutProfile) const override;
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void ApplyCalibration(UObject* Outer, USGSenseGloveHandProfile*& OutProfile) const;
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public:
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virtual void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FQuat& OutGloveRotation) const override;
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virtual void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FRotator& OutGloveRotation) const override;
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void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
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FVector& OutGlovePosition, FQuat& OutGloveRotation) const;
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void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
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FVector& OutGlovePosition, FRotator& OutGloveRotation) const;
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virtual void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FQuat& OutWristRotation) const override;
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virtual void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FRotator& OutWristRotation) const override;
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void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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const FVector& GloveWristPositionOffset,
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const FQuat& GloveWristRotationOffset,
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FVector& OutWristPosition, FQuat& OutWristRotation) const;
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void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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const FVector& GloveWristPositionOffset,
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const FRotator& GloveWristRotationOffset,
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FVector& OutWristPosition, FRotator& OutWristRotation) const;
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public:
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virtual FString ToString() const override;
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}; |