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

/**
 * @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
 *
 *
 */


#include "SGCore/SGNovaGlove.h"

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

#include "SGCore/SGBasicHandModel.h"
#include "SGCore/SGBuzzCommand.h"
#include "SGCore/SGDeviceImplCast.h"
#include "SGCore/SGForceFeedbackCommand.h"
#include "SGCore/SGHandPose.h"
#include "SGCore/SGHandProfile.h"
#include "SGCore/SGNovaGloveHandProfile.h"
#include "SGCore/SGNovaGloveInfo.h"
#include "SGCore/SGNovaGloveSensorData.h"
#include "SGCore/SGThumperCommand.h"
#include "SGCoreImpl/SGDeviceImpl.h"
#include "SGCoreImpl/SGHapticGloveImpl.h"
#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGCoreImpl/SGNovaGloveImpl.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_FSGNovaGloveHandProfileImpl.h"
#include "SGInterop/SGIC_FSGNovaGloveImpl.h"
#include "SGInterop/SGIC_FSGNovaGloveInfoImpl.h"
#include "SGInterop/SGIC_FSGNovaGloveSensorDataImpl.h"
#include "SGInterop/SGIC_FSGThumperCommandImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_FVector.h"
#include "SGInterop/SGIC_TArray_FSGNovaGloveImpl.h"
#include "SGInterop/SGIC_TArray_FVector.h"
#include "SGInterop/SGIC_TSharedPtr_FSGNovaGloveImpl.h"

USGNovaGlove* USGNovaGlove::NewNovaGlove(UObject* Outer, const FSGNovaGloveImpl& NovaGloveImpl)
{
    USGNovaGlove* Instance = NewObject<USGNovaGlove>(Outer);
    Instance->SetSGDeviceImpl(NovaGloveImpl);
    return Instance;
}

USGNovaGlove* USGNovaGlove::NewNovaGlove(UObject* Outer, TSharedRef<FSGNovaGloveImpl> NovaGloveImpl)
{
    USGNovaGlove* Instance = NewObject<USGNovaGlove>(Outer);
    Instance->SetSGDeviceImpl(MoveTemp(NovaGloveImpl));
    return Instance;
}

USGNovaGlove* USGNovaGlove::NewNovaGlove(UObject* Outer)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl OutSharedPtrContainer;
    SGCoreImpl_FSGSenseGloveImpl_ctor_MakeShared(&OutSharedPtrContainer);

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

USGNovaGlove* USGNovaGlove::NewNovaGlove(UObject* Outer, const USGNovaGloveInfo& DeviceInfo)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl OutSharedPtrContainer;
    FSGIC_FSGNovaGloveInfoImpl DeviceInfoContainer{DeviceInfo.ToNovaGloveInfoImpl()};
    SGCoreImpl_FSGSenseGloveImpl_ctor_Model_MakeShared(&OutSharedPtrContainer, &DeviceInfoContainer);

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

ANSICHAR USGNovaGlove::GetHapticsByte()
{
    return SGCoreImpl_FSGNovaGloveImpl_GetHapticsByte();
}

FVector USGNovaGlove::GetMinCalibrationRange()
{
    FSGIC_FVector OutRangeContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetMinCalibrationRange(&OutRangeContainer);
    return MoveTemp(OutRangeContainer.Vector);
}

USGHandPose* USGNovaGlove::CalculateHandPose(UObject* Outer,
                                             const USGBasicHandModel* HandModel,
                                             const USGNovaGloveSensorData* NovaData,
                                             const USGNovaGloveHandProfile* Profile)
{
    FSGIC_FSGHandPoseImpl OutPoseContainer;
    FSGIC_FSGBasicHandModelImpl HandModelContainer{HandModel->ToBasicHandModelImpl()};
    FSGIC_FSGNovaGloveSensorDataImpl NovaDataContainer{NovaData->ToNovaGloveSensorDataImpl()};
    FSGIC_FSGNovaGloveHandProfileImpl ProfileContainer{Profile->ToNovaGloveHandProfileImpl()};
    SGCoreImpl_FSGNovaGloveImpl_CalculateHandPose(
        &OutPoseContainer, &HandModelContainer, &NovaDataContainer, &ProfileContainer);

    return USGHandPose::NewHandPose(Outer, MoveTemp(OutPoseContainer.HandPoseImpl));
}

USGDevice* USGNovaGlove::Parse(UObject* Outer, const FString& ConstantsString)
{
    FSGIC_FSGNovaGloveImpl OutNovaGloveImplContainer;
    FSGIC_FString ConstantsStringContainer{ConstantsString};
    SGCoreImpl_FSGSenseGloveImpl_Parse(&OutNovaGloveImplContainer, &ConstantsStringContainer);

    return NewNovaGlove(Outer, MoveTemp(OutNovaGloveImplContainer.NovaGloveImpl));
}

TArray<USGNovaGlove*> USGNovaGlove::GetNovaGloves(UObject* Outer)
{
    FSGIC_TArray_FSGNovaGloveImpl OutGlovesContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetNovaGloves(&OutGlovesContainer);
    TArray<USGNovaGlove*> Gloves;
    for (const FSGNovaGloveImpl& NovaGloveImpl: OutGlovesContainer.Array)
    {
        USGNovaGlove* NovaGlove = USGNovaGlove::NewNovaGlove(Outer, NovaGloveImpl);
        Gloves.Add(NovaGlove);
    }
    return MoveTemp(Gloves);
}

bool USGNovaGlove::GetNovaGlove(UObject* Outer, USGNovaGlove*& OutGlove)
{
    FSGIC_FSGNovaGloveImpl OutGloveContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetNovaGlove_OutGlove(&OutGloveContainer);

    if (bResult)
    {
        OutGlove = NewNovaGlove(Outer, MoveTemp(OutGloveContainer.NovaGloveImpl));
    }

    return bResult;
}

bool USGNovaGlove::GetNovaGlove(UObject* Outer, const bool bRightHanded, USGNovaGlove*& OutGlove)
{
    FSGIC_FSGNovaGloveImpl OutGloveContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetNovaGlove_bRightHanded_OutGlove(
        bRightHanded, &OutGloveContainer);

    if (bResult)
    {
        OutGlove = NewNovaGlove(Outer, MoveTemp(OutGloveContainer.NovaGloveImpl));
    }

    return bResult;
}

TArray<FVector> USGNovaGlove::GetCalibrationValues(const USGNovaGloveSensorData* SensorData)
{
    FSGIC_TArray_FVector OutValuesContainer;
    FSGIC_FSGNovaGloveSensorDataImpl SensorDataContainer{SensorData->ToNovaGloveSensorDataImpl()};
    SGCoreImpl_FSGNovaGloveImpl_GetCalibrationValues_SensorData(&OutValuesContainer, &SensorDataContainer);
    return MoveTemp(OutValuesContainer.Array);
}

void USGNovaGlove::CalibrateInterpolation(UObject* Outer,
                                          const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
                                          USGNovaGloveHandProfile*& OutProfile)
{
    FSGIC_TArray_FVector MinValuesContainer{MinValues};
    FSGIC_TArray_FVector MaxValuesContainer{MaxValues};
    FSGIC_FSGNovaGloveHandProfileImpl OutProfileContainer;
    SGCoreImpl_FSGNovaGloveImpl_CalibrateInterpolation(
        &MinValuesContainer, &MaxValuesContainer, &OutProfileContainer);
    OutProfile = USGNovaGloveHandProfile::NewNovaGloveHandProfile(
        Outer, MoveTemp(OutProfileContainer.NovaGloveHandProfileImpl));
}

void USGNovaGlove::CalculateGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                          const ESGPositionalTrackingHardware TrackingHardware, const bool bRightHanded,
                                          FVector& OutGlovePosition, FQuat& OutGloveRotation)
{
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutGlovePositionContainer;
    FSGIC_FQuat OutGloveRotationContainer;

    SGCoreImpl_FSGNovaGloveImpl_CalculateGloveLocation(
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer, bRightHanded,
        &OutGlovePositionContainer, &OutGloveRotationContainer);

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

void USGNovaGlove::CalculateGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                          const ESGPositionalTrackingHardware TrackingHardware, const bool bRightHanded,
                                          FVector& OutGlovePosition, FRotator& OutGloveRotation)
{
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutGlovePositionContainer;
    FSGIC_FQuat OutGloveRotationContainer;

    SGCoreImpl_FSGNovaGloveImpl_CalculateGloveLocation(
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer, bRightHanded,
        &OutGlovePositionContainer, &OutGloveRotationContainer);

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

void USGNovaGlove::CalculateWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                          const ESGPositionalTrackingHardware TrackingHardware, const bool bRightHanded,
                                          FVector& OutWristPosition, FQuat& OutWristRotation)
{
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;

    SGCoreImpl_FSGNovaGloveImpl_CalculateWristLocation(
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer, bRightHanded,
        &OutWristPositionContainer, &OutWristRotationContainer);

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

void USGNovaGlove::CalculateWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                          const ESGPositionalTrackingHardware TrackingHardware, const bool bRightHanded,
                                          FVector& OutWristPosition, FRotator& OutWristRotation)
{
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;

    SGCoreImpl_FSGNovaGloveImpl_CalculateWristLocation(
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer, bRightHanded,
        &OutWristPositionContainer, &OutWristRotationContainer);

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

FString USGNovaGlove::ToBytes(const USGThumperCommand* ThumperCommand)
{
    FSGIC_FSGThumperCommandImpl ThumperCommandContainer{ThumperCommand->ToThumperCommandImpl()};
    FSGIC_FString OutBytesContainer;
    SGCoreImpl_FSGNovaGloveImpl_ToBytes_ThumperCommand(&OutBytesContainer, &ThumperCommandContainer);
    return MoveTemp(OutBytesContainer.String);;
}

FString USGNovaGlove::ToBytes(const USGForceFeedbackCommand* ForceFeedbackCommand)
{
    FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
        ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
    FSGIC_FString OutBytesContainer;
    SGCoreImpl_FSGNovaGloveImpl_ToBytes_ForceFeedbackCommand(&OutBytesContainer, &ForceFeedbackCommandContainer);
    return MoveTemp(OutBytesContainer.String);;
}

FString USGNovaGlove::ToBytes(const USGBuzzCommand* BuzzCommand)
{
    FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
    FSGIC_FString OutBytesContainer;
    SGCoreImpl_FSGNovaGloveImpl_ToBytes_BuzzCommand(&OutBytesContainer, &BuzzCommandContainer);
    return MoveTemp(OutBytesContainer.String);;
}

USGNovaGlove::USGNovaGlove()
    : USGHapticGlove()
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl OutSharedPtrContainer;
    SGCoreImpl_FSGSenseGloveImpl_ctor_MakeShared(&OutSharedPtrContainer);

    SetSGDeviceImpl(OutSharedPtrContainer.Ptr.ToSharedRef());
}

USGNovaGlove::USGNovaGlove(const USGNovaGloveInfo& DeviceInfo)
    : USGHapticGlove()
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl OutSharedPtrContainer;
    FSGIC_FSGNovaGloveInfoImpl DeviceInfoContainer{DeviceInfo.ToNovaGloveInfoImpl()};
    SGCoreImpl_FSGSenseGloveImpl_ctor_Model_MakeShared(&OutSharedPtrContainer, &DeviceInfoContainer);

    SetSGDeviceImpl(OutSharedPtrContainer.Ptr.ToSharedRef());
}

USGNovaGlove::USGNovaGlove(const FSGDeviceImpl& SGDeviceImpl)
    : USGHapticGlove(SGDeviceImpl)
{
}

USGNovaGlove::USGNovaGlove(const FSGHapticGloveImpl& HapticGloveImpl)
    : USGHapticGlove(HapticGloveImpl)
{
}

USGNovaGlove::USGNovaGlove(const FSGNovaGloveImpl& NovaGloveImpl)
    : USGHapticGlove(NovaGloveImpl)
{
}

USGNovaGlove::USGNovaGlove(const TSharedRef<FSGDeviceImpl> SGDeviceImpl)
    : USGHapticGlove(SGDeviceImpl)
{
}

USGNovaGlove::USGNovaGlove(const TSharedRef<FSGHapticGloveImpl> HapticGloveImpl)
    : USGHapticGlove(HapticGloveImpl)
{
}

USGNovaGlove::USGNovaGlove(const TSharedRef<FSGNovaGloveImpl> NovaGloveImpl)
    : USGHapticGlove(NovaGloveImpl)
{
}

USGNovaGlove::~USGNovaGlove() = default;

TSharedRef<FSGNovaGloveImpl> USGNovaGlove::ToNovaGloveImpl() const
{
    return FSGDeviceImplCast::ToNovaGloveImpl(ToSGDeviceImpl());
}

ESGDeviceType USGNovaGlove::GetDeviceType() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_ESGDeviceType OutTypeContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetDeviceType(&InstanceContainer, &OutTypeContainer);
    return OutTypeContainer.Type;
}

FString USGNovaGlove::GetDeviceId() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FString OutIdContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetDeviceId(&InstanceContainer, &OutIdContainer);
    return MoveTemp(OutIdContainer.String);
}

FString USGNovaGlove::GetHardwareVersion() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FString OutVersionContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetHardwareVersion(&InstanceContainer, &OutVersionContainer);
    return MoveTemp(OutVersionContainer.String);
}

int32 USGNovaGlove::GetFirmwareVersion() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    return SGCoreImpl_FSGNovaGloveImpl_GetFirmwareVersion(&InstanceContainer);
}

int32 USGNovaGlove::GetSubFirmwareVersion() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    return SGCoreImpl_FSGNovaGloveImpl_GetSubFirmwareVersion(&InstanceContainer);
}

bool USGNovaGlove::HasBattery() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    return SGCoreImpl_FSGNovaGloveImpl_HasBattery(&InstanceContainer);
}

bool USGNovaGlove::IsCharging()
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_IsCharging(&InstanceContainer);
    return bResult;
}

bool USGNovaGlove::GetBatteryLevel(float& OutBatteryLevel)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetBatteryLevel(&InstanceContainer, &OutBatteryLevel);
    return bResult;
}

bool USGNovaGlove::GetSensorData(UObject* Outer, USGNovaGloveSensorData*& OutSensorData)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGNovaGloveSensorDataImpl OutSensorDataContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetSensorData(&InstanceContainer, &OutSensorDataContainer);

    if (bResult)
    {
        OutSensorData = USGNovaGloveSensorData::NewNovaGloveSensorData(
            Outer, MoveTemp(OutSensorDataContainer.NovaGloveSensorDataImpl));
    }

    return bResult;
}

bool USGNovaGlove::GetImuRotation(FQuat& OutImu)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FQuat OutImuContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetImuRotation(&InstanceContainer, &OutImuContainer);

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

    return bResult;
}

bool USGNovaGlove::GetImuRotation(FRotator& OutImu)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FQuat OutImuContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetImuRotation(&InstanceContainer, &OutImuContainer);

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

    return bResult;
}

bool USGNovaGlove::GetHandPose(
    UObject* Outer, const USGBasicHandModel* HandModel, const USGNovaGloveHandProfile* Profile,
    USGHandPose*& OutHandPose)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGBasicHandModelImpl HandModelContainer{HandModel->ToBasicHandModelImpl()};
    FSGIC_FSGNovaGloveHandProfileImpl ProfileContainer{Profile->ToNovaGloveHandProfileImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetHandPose_HandModel_Profile_OutHandPose(
        &InstanceContainer, &HandModelContainer, &ProfileContainer, &OutHandPoseContainer);

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

    return bResult;
}

bool USGNovaGlove::GetHandPose(UObject* Outer, const USGBasicHandModel* HandGeometry, const USGHandProfile* HandProfile,
                               USGHandPose*& OutHandPose)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGBasicHandModelImpl HandGeometryContainer{HandGeometry->ToBasicHandModelImpl()};
    FSGIC_FSGHandProfileImpl ProfileContainer{HandProfile->ToHandProfileImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetHandPose_HandGeometry_HandProfile_OutHandPose(
        &InstanceContainer, &HandGeometryContainer, &ProfileContainer, &OutHandPoseContainer);

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

    return bResult;
}

bool USGNovaGlove::GetHandPose(UObject* Outer, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGHandProfileImpl ProfileContainer{HandProfile->ToHandProfileImpl()};
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetHandPose_HandProfile_OutHandPose(
        &InstanceContainer, &ProfileContainer, &OutHandPoseContainer);

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

    return bResult;
}

void USGNovaGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
                               const USGBuzzCommand* BuzzCommand,
                               const USGThumperCommand* ThumperCommand)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
        ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
    FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
    FSGIC_FSGThumperCommandImpl ThumperCommandContainer{ThumperCommand->ToThumperCommandImpl()};
    SGCoreImpl_FSGNovaGloveImpl_SendHaptics_ForceFeedbackCommand_BuzzCommand_ThumperCommand(
        &InstanceContainer, &ForceFeedbackCommandContainer, &BuzzCommandContainer, &ThumperCommandContainer);
}

void USGNovaGlove::SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGForceFeedbackCommandImpl ForceFeedbackCommandContainer{
        ForceFeedbackCommand->ToForceFeedbackCommandImpl().Get()};
    SGCoreImpl_FSGNovaGloveImpl_SendHaptics_ForceFeedbackCommand(&InstanceContainer, &ForceFeedbackCommandContainer);
}

void USGNovaGlove::SendHaptics(const USGBuzzCommand* BuzzCommand)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGBuzzCommandImpl BuzzCommandContainer{BuzzCommand->ToBuzzCommandImpl().Get()};
    SGCoreImpl_FSGNovaGloveImpl_SendHaptics_ForceFeedbackCommand(&InstanceContainer, &BuzzCommandContainer);
}

void USGNovaGlove::SendHaptics(const USGThumperCommand* ThumperCommand)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGThumperCommandImpl ThumperCommandContainer{ThumperCommand->ToThumperCommandImpl()};
    SGCoreImpl_FSGNovaGloveImpl_SendHaptics_ForceFeedbackCommand(&InstanceContainer, &ThumperCommandContainer);
}

bool USGNovaGlove::GetCalibrationValues(TArray<FVector>& OutValues)
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_TArray_FVector OutValuesContainer;
    const bool bResult = SGCoreImpl_FSGNovaGloveImpl_GetCalibrationValues_OutValues(
        &InstanceContainer, &OutValuesContainer);

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

    return bResult;
}

void USGNovaGlove::ApplyCalibration(UObject* Outer, USGHandProfile*& OutProfile) const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGHandProfileImpl OutProfileContainer;
    SGCoreImpl_FSGNovaGloveImpl_ApplyCalibration_HandProfile(&InstanceContainer, &OutProfileContainer);
    OutProfile = USGHandProfile::NewHandProfile(Outer, MoveTemp(OutProfileContainer.HandProfileImpl));
}

void USGNovaGlove::ApplyCalibration(UObject* Outer, USGNovaGloveHandProfile*& OutProfile) const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FSGNovaGloveHandProfileImpl OutProfileContainer;
    SGCoreImpl_FSGNovaGloveImpl_ApplyCalibration_NovaGloveHandProfile(&InstanceContainer, &OutProfileContainer);
    OutProfile = USGNovaGloveHandProfile::NewNovaGloveHandProfile(
        Outer, MoveTemp(OutProfileContainer.NovaGloveHandProfileImpl));
}

void USGNovaGlove::GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                    const ESGPositionalTrackingHardware TrackingHardware,
                                    FVector& OutGlovePosition, FQuat& OutGloveRotation) const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutGlovePositionContainer;
    FSGIC_FQuat OutGloveRotationContainer;

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

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

void USGNovaGlove::GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                    const ESGPositionalTrackingHardware TrackingHardware,
                                    FVector& OutGlovePosition, FRotator& OutGloveRotation) const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutGlovePositionContainer;
    FSGIC_FQuat OutGloveRotationContainer;

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

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

void USGNovaGlove::GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                    const ESGPositionalTrackingHardware TrackingHardware,
                                    FVector& OutWristPosition, FQuat& OutWristRotation) const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetWristLocation(
        &InstanceContainer,
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutWristPositionContainer, &OutWristRotationContainer);

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

void USGNovaGlove::GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                    const ESGPositionalTrackingHardware TrackingHardware,
                                    FVector& OutWristPosition, FRotator& OutWristRotation) const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;
    SGCoreImpl_FSGNovaGloveImpl_GetWristLocation(
        &InstanceContainer,
        &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutWristPositionContainer, &OutWristRotationContainer);

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

FString USGNovaGlove::ToString() const
{
    FSGIC_TSharedPtr_FSGNovaGloveImpl InstanceContainer{ToNovaGloveImpl()};
    FSGIC_FString OutStringContainer;
    SGCoreImpl_FSGNovaGloveImpl_ToString(&InstanceContainer, &OutStringContainer);
    return MoveTemp(OutStringContainer.String);;
}