Plugin/Source/SenseGloveCoreKismet/Public/SGCoreKismet/SGSenseGlovePoseKismetLibrary.h

/**
 * @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
 *
 *
 */


#pragma once

#include "SGCore/SGQuatArray.h"
#include "SGCore/SGRotatorArray.h"
#include "SGCore/SGVectorArray.h"
#include "SGKismet/SGBlueprintFunctionLibrary.h"

#include "SGSenseGlovePoseKismetLibrary.generated.h"

class USGSenseGloveHandProfile;
class USGSenseGloveInfo;
class USGSenseGlovePose;

UCLASS(meta=(ScriptName = "SesneGloveSenseGlovePoseKismetLibrary"))
class SENSEGLOVECOREKISMET_API USGSenseGlovePoseKismetLibrary final : public USGBlueprintFunctionLibrary
{
    GENERATED_BODY()

public:
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove Pose",
        meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* MakeSenseGlovePose(UObject* WorldContextObject);

    UFUNCTION(BlueprintCallable, DisplayName="Make Sense Glove Pose",
        Category="SenseGlove | Core | SG | Sense Glove Pose", meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose*
    MakeSenseGlovePose_bRightHanded_JointPositions_TArrayFSGQuatArrayJointRotations_GloveAngles(
        UObject* WorldContextObject, bool bRightHanded,
        const TArray<FSGVectorArray>& JointPositions,
        const TArray<FSGQuatArray>& JointRotations,
        const TArray<FSGVectorArray>& GloveAngles);

    UFUNCTION(BlueprintCallable, DisplayName="Make Sense Glove Pose",
        Category="SenseGlove | Core | SG | Sense Glove Pose", meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose*
    MakeSenseGlovePose_bRightHanded_JointPositions_TArrayFSGRotatorArrayJointRotations_GloveAngles(
        UObject* WorldContextObject, bool bRightHanded,
        const TArray<FSGVectorArray>& JointPositions,
        const TArray<FSGRotatorArray>& JointRotations,
        const TArray<FSGVectorArray>& GloveAngles);

    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove Pose",
        meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* IdlePose(UObject* WorldContextObject, const USGSenseGloveInfo* GloveInfo);

    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove Pose",
        meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* Deserialize(UObject* WorldContextObject, const FString& SerializedString);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static bool IsRight(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGVectorArray> GetJointPositions(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, DisplayName="Get Joint Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGQuatArray> GetJointRotations_TArrayFSGQuatArray(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, DisplayName="Get Joint Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGRotatorArray> GetJointRotations_TArrayFSGRotatorArray(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGVectorArray> GetGloveAngles(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> GetThimblePositions(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, DisplayName="Get Thimble Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FQuat> GetThimbleRotations_FQuat(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, DisplayName="Get Thimble Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FRotator> GetThimbleRotations_FRotator(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> GetTotalGloveAngles(const USGSenseGlovePose* SenseGlovePose);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> CalculateFingerTips_SenseGloveHandProfileImpl(
        const USGSenseGlovePose* SenseGlovePose,
        const USGSenseGloveHandProfile* SenseGloveHandProfile);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> CalculateFingerTips_FingerOffsets(const USGSenseGlovePose* SenseGlovePose,
                                                             const TArray<FVector>& FingerOffsets);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static bool Equals(const USGSenseGlovePose* A, const USGSenseGlovePose* B);

    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static FString ToString(const USGSenseGlovePose* SenseGlovePose, bool bShortFormat = false);

    UFUNCTION(BlueprintPure, DisplayName="Serialize", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static FString SGSerialize(const USGSenseGlovePose* SenseGlovePose);
};