268 lines
8.7 KiB
C++
268 lines
8.7 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 NovaGlove
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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 <memory>
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#include <vector>
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#include "Math/Quat.h"
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#include "Math/Vector.h"
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#include "Runtime/Launch/Resources/Version.h"
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#include "Templates/SharedPointer.h"
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#include "Templates/UniquePtr.h"
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#include "SGCoreImpl/SGHapticGloveImpl.h"
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namespace SGCore
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{
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namespace Nova
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{
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class NovaGlove;
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}
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}
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class FSGBasicHandModelImpl;
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class FSGBuzzCommandImpl;
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class FSGForceFeedbackCommandImpl;
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class FSGHandPoseImpl;
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class FSGHandProfileImpl;
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class FSGNovaGloveHandProfileImpl;
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class FSGNovaGloveInfoImpl;
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class FSGNovaGloveSensorDataImpl;
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class FSGThumperCommandImpl;
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class SENSEGLOVECOREIMPL_API FSGNovaGloveImpl final : public FSGHapticGloveImpl
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{
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#if ENGINE_MAJOR_VERSION >= 5
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friend class SharedPointerInternals::TIntrusiveReferenceController<FSGNovaGloveImpl, ESPMode::ThreadSafe>;
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#else
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friend class SharedPointerInternals::TIntrusiveReferenceController<FSGNovaGloveImpl>;
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#endif /* ENGINE_MAJOR_VERSION >= 5 */
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public:
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typedef SGCore::Nova::NovaGlove FNovaGloveType;
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typedef std::vector<FNovaGloveType> FNovaGloveVectorType;
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typedef std::shared_ptr<FNovaGloveType> FNovaGlovePtrType;
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typedef std::vector<FNovaGlovePtrType> FNovaGlovePtrVectorType;
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public:
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static ANSICHAR GetHapticsByte();
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static const FVector& GetMinCalibrationRange();
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public:
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static FSGHandPoseImpl CalculateHandPose(const FSGBasicHandModelImpl& HandModel,
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const FSGNovaGloveSensorDataImpl& NovaData,
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const FSGNovaGloveHandProfileImpl& Profile);
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public:
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static TSharedRef<FSGDeviceImpl> Parse(const FString& ConstantsString);
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static TArray<FSGNovaGloveImpl> GetNovaGloves();
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static bool GetNovaGlove(FSGNovaGloveImpl& OutGlove);
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static bool GetNovaGlove(bool bRightHanded, FSGNovaGloveImpl& OutGlove);
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public:
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static TArray<FVector> GetCalibrationValues(const FSGNovaGloveSensorDataImpl& SensorData);
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static void CalibrateInterpolation(const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
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FSGNovaGloveHandProfileImpl& 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, bool bRightHanded,
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FVector& OutGlovePosition, FQuat& OutGloveRotation);
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static void CalculateWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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FVector& OutWristPosition, FQuat& OutWristRotation);
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public:
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static FString ToBytes(const FSGThumperCommandImpl& ThumperCommand);
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static FString ToBytes(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand);
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static FString ToBytes(const FSGBuzzCommandImpl& BuzzCommand);
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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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public:
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FSGNovaGloveImpl();
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explicit FSGNovaGloveImpl(const FSGNovaGloveInfoImpl& DeviceInfo);
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public:
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/**
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* The cast from underlying type constructor.
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*/
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explicit FSGNovaGloveImpl(const FNovaGloveType NovaGlove);
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/**
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* The cast from underlying pointer type constructor.
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*/
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explicit FSGNovaGloveImpl(const FNovaGlovePtrType NovaGlove);
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public:
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/**
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* The copy constructor.
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*/
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FSGNovaGloveImpl(const FSGNovaGloveImpl& Rhs);
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/**
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* The move constructor.
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*/
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FSGNovaGloveImpl(FSGNovaGloveImpl&& Rhs)
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#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
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noexcept
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#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
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;
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public:
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/**
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* The destructor.
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*/
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virtual ~FSGNovaGloveImpl() override;
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public:
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/**
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* The copy assignment operator.
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*/
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FSGNovaGloveImpl& operator=(const FSGNovaGloveImpl& Rhs);
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/**
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* The move assignment operator.
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*/
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FSGNovaGloveImpl& operator=(FSGNovaGloveImpl&& Rhs)
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#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
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noexcept
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#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
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;
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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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const FNovaGloveType& ToNovaGlove() const;
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/**
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* The cast to underlying pointer type method.
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*/
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FNovaGlovePtrType ToNovaGlovePtr() const;
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/**
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* The checked cast to underlying pointer type method.
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*/
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FNovaGlovePtrType ToNovaGlovePtrChecked() const;
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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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virtual bool HasBattery() const override;
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virtual bool IsCharging() override;
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virtual bool GetBatteryLevel(float& OutBatteryLevel) override;
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public:
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bool GetSensorData(FSGNovaGloveSensorDataImpl& OutSensorData);
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virtual bool GetImuRotation(FQuat& OutImu) override;
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/// HACK
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/// 'FSGNovaGloveImpl::GetHandPose' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
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/// tell the compiler we want both the GetHandPose from FSGHapticGloveImpl and FSGNovaGloveImpl
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using FSGHapticGloveImpl::GetHandPose;
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bool GetHandPose(const FSGBasicHandModelImpl& HandModel, const FSGNovaGloveHandProfileImpl& Profile,
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FSGHandPoseImpl& OutHandPose);
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virtual bool GetHandPose(const FSGBasicHandModelImpl& HandGeometry, const FSGHandProfileImpl& HandProfile,
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FSGHandPoseImpl& OutHandPose) override;
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virtual bool GetHandPose(const FSGHandProfileImpl& HandProfile, FSGHandPoseImpl& OutHandPose) override;
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public:
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virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
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const FSGBuzzCommandImpl& BuzzCommand,
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const FSGThumperCommandImpl& ThumperCommand) override;
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virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand) override;
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virtual void SendHaptics(const FSGBuzzCommandImpl& BuzzCommand) override;
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virtual void SendHaptics(const FSGThumperCommandImpl& ThumperCommand) override;
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public:
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virtual bool GetCalibrationValues(TArray<FVector>& OutValues) override;
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virtual void ApplyCalibration(FSGHandProfileImpl& OutProfile) const override;
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void ApplyCalibration(FSGNovaGloveHandProfileImpl& 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 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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public:
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virtual FString ToString() const override;
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}; |