Plugin/Source/SenseGloveCore/Private/SGCore/SGHapticGlove.cpp

/**
 * @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
 *
 *
 */


#include "SGCore/SGHapticGlove.h"

#include "Runtime/Launch/Resources/Version.h"

#include "SGCore/SGBuzzCommand.h"
#include "SGCore/SGForceFeedbackCommand.h"
#include "SGCore/SGDeviceImplCast.h"
#include "SGCoreImpl/SGDeviceImpl.h"
#include "SGCoreImpl/SGHapticGloveImpl.h"
#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGInterop/SGIC_ESGDeviceType.h"
#include "SGInterop/SGIC_ESGPositionalTrackingHardware.h"
#include "SGInterop/SGIC_FQuat.h"
#include "SGInterop/SGIC_FSGBasicHandModelImpl.h"
#include "SGInterop/SGIC_FSGBuzzCommandImpl.h"
#include "SGInterop/SGIC_FSGForceFeedbackCommandImpl.h"
#include "SGInterop/SGIC_FSGHandPoseImpl.h"
#include "SGInterop/SGIC_FSGHandProfileImpl.h"
#include "SGInterop/SGIC_FSGThumperCommandImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_FVector.h"
#include "SGInterop/SGIC_TArray_FVector.h"
#include "SGInterop/SGIC_TArray_TSharedRef_FSGHapticGloveImpl.h"
#include "SGInterop/SGIC_TSharedPtr_FSGHapticGloveImpl.h"

struct USGHapticGlove::FImpl
{
    /************************
     * Member variables
     ************************/


    /************************
     * Owner object
     ************************/

    USGDevice* Owner;

    /************************
     * Constructor / Destructor
     ************************/

    explicit FImpl(USGHapticGlove* InOwner);
    ~FImpl();

    /************************
     * Default copy constructor & copy assignment operator
     ************************/

    FImpl(const FImpl& Rhs) = default;
    FImpl& operator=(const FImpl& Rhs) = default;

    /************************
     * Methods
     ************************/

    void SyncUProperties();

    void SyncImplObject();
};

USGHapticGlove* USGHapticGlove::NewHapticGlove(UObject* Outer, const FSGHapticGloveImpl& HapticGloveImpl)
{
    USGHapticGlove* Instance = NewObject<USGHapticGlove>(Outer);
    Instance->SetSGDeviceImpl(HapticGloveImpl);
    return Instance;
}

USGHapticGlove* USGHapticGlove::NewHapticGlove(UObject* Outer, TSharedRef<FSGHapticGloveImpl> HapticGloveImpl)
{
    USGHapticGlove* Instance = NewObject<USGHapticGlove>(Outer);
    Instance->SetSGDeviceImpl(MoveTemp(HapticGloveImpl));
    return Instance;
}

USGHapticGlove* USGHapticGlove::NewHapticGlove(UObject* Outer)
{
    FSGIC_TSharedPtr_FSGHapticGloveImpl OutSharedPtrContainer;
    SGCoreImpl_FSGBetaDeviceImpl_ctor_MakeShared(&OutSharedPtrContainer);

    return NewHapticGlove(Outer, OutSharedPtrContainer.Ptr.ToSharedRef());
}

TArray<USGHapticGlove*> USGHapticGlove::GetHapticGloves(UObject* Outer)
{
    FSGIC_TArray_TSharedRef_FSGHapticGloveImpl OutGlovesContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetHapticGloves(&OutGlovesContainer);
    TArray<USGHapticGlove*> HapticGloves;
    for (TSharedRef<FSGHapticGloveImpl> HapticGloveImpl: OutGlovesContainer.Array)
    {
        HapticGloves.Add(NewHapticGlove(Outer, MoveTemp(HapticGloveImpl)));
    }
    return HapticGloves;
}

bool USGHapticGlove::GetGlove(UObject* Outer, USGHapticGlove*& OutGlove)
{
    FSGIC_TSharedPtr_FSGHapticGloveImpl OutGloveContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetGlove_OutGlove(&OutGloveContainer);

    if (bResult)
    {
        OutGlove = NewHapticGlove(Outer, OutGloveContainer.Ptr.ToSharedRef());
    }

    return bResult;
}

bool USGHapticGlove::GetGlove(UObject* Outer, const bool bRightHanded, USGHapticGlove*& OutGlove)
{
    FSGIC_TSharedPtr_FSGHapticGloveImpl OutGloveContainer;

    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetGlove_bRightHanded_OutGlove(bRightHanded, &OutGloveContainer);
    if (bResult)
    {
        OutGlove = NewHapticGlove(Outer, OutGloveContainer.Ptr.ToSharedRef());
    }

    return bResult;
}

USGHapticGlove::USGHapticGlove()
    : USGDevice(),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_TSharedPtr_FSGHapticGloveImpl OutSharedPtrContainer;
    SGCoreImpl_FSGBetaDeviceImpl_ctor_MakeShared(&OutSharedPtrContainer);

    SetSGDeviceImpl(OutSharedPtrContainer.Ptr.ToSharedRef());
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(const FSGDeviceImpl& SGDeviceImpl)
    : USGDevice(SGDeviceImpl),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(const FSGHapticGloveImpl& HapticGloveImpl)
    : USGDevice(HapticGloveImpl),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(const FSGNovaGloveImpl& NovaGloveImpl)
    : USGDevice(NovaGloveImpl),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(const FSGSenseGloveImpl& SenseGloveImpl)
    : USGDevice(SenseGloveImpl),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(TSharedRef<FSGDeviceImpl> SGDeviceImpl)
    : USGDevice(MoveTemp(SGDeviceImpl)),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(TSharedRef<FSGHapticGloveImpl> HapticGloveImpl)
    : USGDevice(MoveTemp(HapticGloveImpl)),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(TSharedRef<FSGNovaGloveImpl> NovaGloveImpl)
    : USGDevice(MoveTemp(NovaGloveImpl)),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::USGHapticGlove(TSharedRef<FSGSenseGloveImpl> SenseGloveImpl)
    : USGDevice(MoveTemp(SenseGloveImpl)),
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
      Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    Pimpl->SyncUProperties();
}

USGHapticGlove::~USGHapticGlove() = default;

TSharedRef<FSGHapticGloveImpl> USGHapticGlove::ToHapticGloveImpl() const
{
    SyncImplObject();
    return FSGDeviceImplCast::ToHapticGloveImpl(ToSGDeviceImpl());
}

void USGHapticGlove::SyncImplObject() const
{
    Super::SyncImplObject();
    Pimpl->SyncImplObject();
}

void USGHapticGlove::SyncUProperties()
{
    Super::SyncUProperties();
    Pimpl->SyncUProperties();
}

ESGDeviceType USGHapticGlove::GetDeviceType() const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_ESGDeviceType OutTypeContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetDeviceType(&InstanceContainer, &OutTypeContainer);
    return OutTypeContainer.Type;
}

FString USGHapticGlove::GetDeviceId() const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FString OutIdContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetDeviceId(&InstanceContainer, &OutIdContainer);
    return MoveTemp(OutIdContainer.String);
}

FString USGHapticGlove::GetHardwareVersion() const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FString OutVersionContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetHardwareVersion(&InstanceContainer, &OutVersionContainer);
    return MoveTemp(OutVersionContainer.String);
}

int32 USGHapticGlove::GetFirmwareVersion() const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    return SGCoreImpl_FSGHapticGloveImpl_GetFirmwareVersion(&InstanceContainer);
}

int32 USGHapticGlove::GetSubFirmwareVersion() const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    return SGCoreImpl_FSGHapticGloveImpl_GetSubFirmwareVersion(&InstanceContainer);
}

bool USGHapticGlove::IsRight() const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    return SGCoreImpl_FSGHapticGloveImpl_IsRight(&InstanceContainer);
}

bool USGHapticGlove::GetImuRotation(FQuat& OutImu)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FQuat OutImuContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetImuRotation(&InstanceContainer, &OutImuContainer);

    SyncUProperties();

    if (bResult)
    {
        OutImu = MoveTemp(OutImuContainer.Quat);
    }

    return bResult;
}

bool USGHapticGlove::GetImuRotation(FRotator& OutImu)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FQuat OutImuContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetImuRotation(&InstanceContainer, &OutImuContainer);

    SyncUProperties();

    if (bResult)
    {
        OutImu = OutImuContainer.Quat.Rotator();
    }

    return bResult;
}

bool USGHapticGlove::GetHandPose(
    UObject* Outer,
    const USGBasicHandModel* HandGeometry, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGBasicHandModelImpl HandGeometryContainer{HandGeometry->ToBasicHandModelImpl()};
    FSGIC_FSGHandProfileImpl HandProfileContainer{HandProfile->ToHandProfileImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetHandPose_HandGeometry_HandProfile_OutHandPose(
        &InstanceContainer, &HandGeometryContainer, &HandProfileContainer, &OutHandPoseContainer);

    SyncUProperties();

    if (bResult)
    {
        OutHandPose = USGHandPose::NewHandPose(Outer, MoveTemp(OutHandPoseContainer.HandPoseImpl));
    }

    return bResult;
}

bool USGHapticGlove::GetHandPose(UObject* Outer, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGHandProfileImpl HandProfileContainer{HandProfile->ToHandProfileImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetHandPose_HandProfile_OutHandPose(
        &InstanceContainer, &HandProfileContainer, &OutHandPoseContainer);

    SyncUProperties();

    if (bResult)
    {
        OutHandPose = USGHandPose::NewHandPose(Outer, MoveTemp(OutHandPoseContainer.HandPoseImpl));
    }

    return bResult;
}

bool USGHapticGlove::GetHandPose(UObject* Outer, const USGBasicHandModel* HandGeometry, USGHandPose*& OutHandPose)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGBasicHandModelImpl HandGeometryContainer{HandGeometry->ToBasicHandModelImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetHandPose_HandGeometry_OutHandPose(
        &InstanceContainer, &HandGeometryContainer, &OutHandPoseContainer);

    SyncUProperties();

    if (bResult)
    {
        OutHandPose = USGHandPose::NewHandPose(Outer, MoveTemp(OutHandPoseContainer.HandPoseImpl));
    }

    return bResult;
}

bool USGHapticGlove::GetHandPose(UObject* Outer, USGHandPose*& OutHandPose)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetHandPose_OutHandPose(
        &InstanceContainer, &OutHandPoseContainer);

    SyncUProperties();

    if (bResult)
    {
        OutHandPose = USGHandPose::NewHandPose(Outer, MoveTemp(OutHandPoseContainer.HandPoseImpl));
    }

    return bResult;
}

void USGHapticGlove::StopHaptics()
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveImpl_StopHaptics(&InstanceContainer);

    SyncUProperties();
}

void USGHapticGlove::StopVibrations()
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveImpl_StopVibrations(&InstanceContainer);

    SyncUProperties();
}

void USGHapticGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
        ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
    SGCoreImpl_FSGHapticGloveImpl_SendHaptics_ForceFeedbackCommand(&InstanceContainer, &ForceFeedbackCommandContainer);

    SyncUProperties();
}

void USGHapticGlove::SendHaptics(const USGBuzzCommand* BuzzCommand)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
    SGCoreImpl_FSGHapticGloveImpl_SendHaptics_BuzzCommand(&InstanceContainer, &BuzzCommandContainer);

    SyncUProperties();
}

void USGHapticGlove::SendHaptics(const USGThumperCommand* ThumperCommand)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGThumperCommandImpl ThumperCommandContainer{ThumperCommand->ToThumperCommandImpl()};
    SGCoreImpl_FSGHapticGloveImpl_SendHaptics_ThumperCommand(&InstanceContainer, &ThumperCommandContainer);

    SyncUProperties();
}

void USGHapticGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
                                 const USGBuzzCommand* BuzzCommand)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
        ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
    FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
    SGCoreImpl_FSGHapticGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand(
        &InstanceContainer, &ForceFeedbackCommandContainer, &BuzzCommandContainer);

    SyncUProperties();
}

void USGHapticGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
                                 const USGBuzzCommand* BuzzCommand,
                                 const USGThumperCommand* ThumperCommand)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
        ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
    FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
    FSGIC_FSGThumperCommandImpl ThumperCommandContainer{ThumperCommand->ToThumperCommandImpl()};
    SGCoreImpl_FSGHapticGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand_ThumperCommand(
        &InstanceContainer, &ForceFeedbackCommandContainer, &BuzzCommandContainer, &ThumperCommandContainer);

    SyncUProperties();
}

bool USGHapticGlove::GetCalibrationValues(TArray<FVector>& OutValues)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_TArray_FVector OutValuesContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveImpl_GetCalibrationValues(&InstanceContainer, &OutValuesContainer);

    SyncUProperties();

    if (bResult)
    {
        OutValues = MoveTemp(OutValuesContainer.Array);
    }

    return bResult;
}

void USGHapticGlove::ResetCalibrationRange()
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveImpl_ResetCalibrationRange(&InstanceContainer);

    SyncUProperties();
}

void USGHapticGlove::UpdateCalibrationRange()
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveImpl_UpdateCalibrationRange(&InstanceContainer);

    SyncUProperties();
}

void USGHapticGlove::UpdateCalibrationRange(const TArray<FVector>& CalibrationValues)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_TArray_FVector CalibrationValuesContainer{CalibrationValues};
    SGCoreImpl_FSGHapticGloveImpl_UpdateCalibrationRange_CalibrationValues(
        &InstanceContainer, &CalibrationValuesContainer);

    SyncUProperties();
}

void USGHapticGlove::GetCalibrationRange(TArray<FVector>& OutMinValues, TArray<FVector>& OutMaxValues)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_TArray_FVector OutMinValuesContainer;
    FSGIC_TArray_FVector OutMaxValuesContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetCalibrationRange(&InstanceContainer, &OutMinValues, &OutMaxValues);

    SyncUProperties();

    OutMinValues = MoveTemp(OutMinValuesContainer.Array);
    OutMaxValues = MoveTemp(OutMaxValuesContainer.Array);
}

void USGHapticGlove::UpdateCalibration(UObject* Outer, USGHandProfile*& OutProfile)
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGHandProfileImpl OutProfileContainer;
    SGCoreImpl_FSGHapticGloveImpl_UpdateCalibration(&InstanceContainer, &OutProfileContainer);

    SyncUProperties();

    OutProfile = USGHandProfile::NewHandProfile(Outer, MoveTemp(OutProfileContainer.HandProfileImpl));
}

void USGHapticGlove::ApplyCalibration(UObject* Outer, USGHandProfile*& OutProfile) const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FSGHandProfileImpl OutProfileContainer;
    SGCoreImpl_FSGHapticGloveImpl_ApplyCalibration(&InstanceContainer, &OutProfileContainer);

    OutProfile = USGHandProfile::NewHandProfile(Outer, MoveTemp(OutProfileContainer.HandProfileImpl));
}

void USGHapticGlove::GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                      const ESGPositionalTrackingHardware TrackingHardware,
                                      FVector& OutWristPosition, FQuat& OutWristRotation) const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetWristLocation(
        &InstanceContainer,
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutWristPositionContainer, &OutWristRotationContainer);

    OutWristPosition = MoveTemp(OutWristPositionContainer.Vector);
    OutWristRotation = MoveTemp(OutWristRotationContainer.Quat);
}

void USGHapticGlove::GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                      const ESGPositionalTrackingHardware TrackingHardware,
                                      FVector& OutWristPosition, FRotator& OutWristRotation) const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;
    SGCoreImpl_FSGHapticGloveImpl_GetWristLocation(
        &InstanceContainer,
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutWristPositionContainer, &OutWristRotationContainer);

    OutWristPosition = MoveTemp(OutWristPositionContainer.Vector);
    OutWristRotation = OutWristRotationContainer.Quat.Rotator();
}

void USGHapticGlove::GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                      const ESGPositionalTrackingHardware TrackingHardware,
                                      FVector& OutGlovePosition, FQuat& OutGloveRotation) const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutGlovePositionContainer;
    FSGIC_FQuat OutGloveRotationContainer;

    SGCoreImpl_FSGHapticGloveImpl_GetGloveLocation(
        &InstanceContainer,
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutGlovePositionContainer, &OutGloveRotationContainer);

    OutGlovePosition = MoveTemp(OutGlovePositionContainer.Vector);
    OutGloveRotation = MoveTemp(OutGloveRotationContainer.Quat);
}

void USGHapticGlove::GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                      const ESGPositionalTrackingHardware TrackingHardware,
                                      FVector& OutGlovePosition, FRotator& OutGloveRotation) const
{
    SyncImplObject();

    FSGIC_TSharedPtr_FSGHapticGloveImpl InstanceContainer{ToHapticGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutGlovePositionContainer;
    FSGIC_FQuat OutGloveRotationContainer;

    SGCoreImpl_FSGHapticGloveImpl_GetGloveLocation(
        &InstanceContainer,
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutGlovePositionContainer, &OutGloveRotationContainer);

    OutGlovePosition = MoveTemp(OutGlovePositionContainer.Vector);
    OutGloveRotation = OutGloveRotationContainer.Quat.Rotator();
}

USGHapticGlove::FImpl::FImpl(USGHapticGlove* InOwner)
    : Owner(InOwner)
{
}

USGHapticGlove::FImpl::~FImpl() = default;

void USGHapticGlove::FImplDeleter::operator()(const FImpl* P) const
{
    delete P;
}

void USGHapticGlove::FImpl::SyncUProperties()
{
}

void USGHapticGlove::FImpl::SyncImplObject()
{
}