Plugin/Source/SenseGloveCore/Public/SGCore/SGSenseGlovePose.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
 *
 * Contains position and rotation data of a SenseGlove's exoskeleton, along
 * with accessors for relevant variables.
 */


#pragma once

#include "Containers/Array.h"
#include "Containers/UnrealString.h"
#include "Math/Quat.h"
#include "Math/Vector.h"
#include "Templates/UniquePtr.h"
#include "UObject/Object.h"
#include "UObject/ObjectMacros.h"

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

#include "SGSenseGlovePose.generated.h"

class FSGSenseGlovePoseImpl;
class USGSenseGloveHandProfile;
class USGSenseGloveInfo;

/**
 * Represents a pose of a Sense Glove exoskeleton.
 */
UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGSenseGlovePose final : public UObject
{
    GENERATED_BODY()

public:
    static USGSenseGlovePose* NewSenseGlovePose(
        UObject* Outer, const FSGSenseGlovePoseImpl& SenseGlovePoseImpl);

public:
    /**
     * The basic constructor.
     */
    static USGSenseGlovePose* NewSenseGlovePose(UObject* Outer);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    static USGSenseGlovePose* NewSenseGlovePose(UObject* Outer, bool bRightHanded,
                                                const TArray<TArray<FVector>>& JointPositions,
                                                const TArray<TArray<FQuat>>& JointRotations,
                                                const TArray<TArray<FVector>>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    static USGSenseGlovePose* NewSenseGlovePose(UObject* Outer, bool bRightHanded,
                                                const TArray<TArray<FVector>>& JointPositions,
                                                const TArray<TArray<FRotator>>& JointRotations,
                                                const TArray<TArray<FVector>>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    static USGSenseGlovePose* NewSenseGlovePose(UObject* Outer, bool bRightHanded,
                                                const TArray<FSGVectorArray>& JointPositions,
                                                const TArray<FSGQuatArray>& JointRotations,
                                                const TArray<FSGVectorArray>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    static USGSenseGlovePose* NewSenseGlovePose(UObject* Outer, bool bRightHanded,
                                                const TArray<FSGVectorArray>& JointPositions,
                                                const TArray<FSGRotatorArray>& JointRotations,
                                                const TArray<FSGVectorArray>& GloveAngles);

public:
    /**
     * Returns an idle pose for the Sense Glove if no data can be found.
     */
    static USGSenseGlovePose* IdlePose(UObject* Outer, const USGSenseGloveInfo* GloveInfo);

    /**
     * Deserialize a GlovePose back into usable values.
     */
    static USGSenseGlovePose* Deserialize(UObject* Outer, const FString& SerializedString);

private:
    struct FImpl;

    struct FImplDeleter
    {
        void operator()(const FImpl* P) const;
    };

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    /**
     * The basic constructor.
     */
    USGSenseGlovePose();

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    USGSenseGlovePose(bool bRightHanded,
                      const TArray<TArray<FVector>>& JointPositions,
                      const TArray<TArray<FQuat>>& JointRotations,
                      const TArray<TArray<FVector>>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    USGSenseGlovePose(bool bRightHanded,
                      const TArray<TArray<FVector>>& JointPositions,
                      const TArray<TArray<FRotator>>& JointRotations,
                      const TArray<TArray<FVector>>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    USGSenseGlovePose(bool bRightHanded,
                      const TArray<FSGVectorArray>& JointPositions,
                      const TArray<FSGQuatArray>& JointRotations,
                      const TArray<FSGVectorArray>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    USGSenseGlovePose(bool bRightHanded,
                      const TArray<FSGVectorArray>& JointPositions,
                      const TArray<FSGRotatorArray>& JointRotations,
                      const TArray<FSGVectorArray>& GloveAngles);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit USGSenseGlovePose(const FSGSenseGlovePoseImpl& SenseGlovePoseImpl);

public:
    /**
     * The destructor.
     */
    virtual ~USGSenseGlovePose() override;

protected:
    /**
     * Allows to set the underlying object after construction.
     */
    void SetSenseGlovePoseImpl(const FSGSenseGlovePoseImpl& SenseGlovePoseImpl);

public:
    /**
     * The cast to underlying type method.
     */
    const FSGSenseGlovePoseImpl& ToSenseGlovePoseImpl() const;

public:
    /**
     * Whether this Glove Pose was created for be a right- or left hand, or not.
     */
    bool IsRight() const;

    /**
     * Positions of each glove joint, relative to the Glove's Origin.
     */
    TArray<TArray<FVector>> GetJointPositions() const;

    /**
     * Quaternion rotation of each glove joint, relative to the Glove Origin.
     */
    TArray<TArray<FQuat>> GetJointRotationsQ() const;

    /**
     * Rotation of each glove joint, relative to the Glove Origin.
     */
    TArray<TArray<FRotator>> GetJointRotations() const;

    /**
     * Glove joint angles in euler notation, relative to the last segment.
     *
     * @remarks Essentially sensor angles, though placed in their proper xyz notation.
     */
    TArray<TArray<FVector>> GetGloveAngles() const;

public:
    /**
     * The position of the tip of the 'thimbles', the furthest link on each glove link.
     */
    TArray<FVector> GetThimblePositions() const;

    /**
     * The (quaternion) rotation of the 'thimbles', the furthest link on each link.
     */
    TArray<FQuat> GetThimbleRotationsQ() const;

    /**
     * The rotation of the 'thimbles', the furthest link on each link.
     */
    TArray<FRotator> GetThimbleRotations() const;

    /**
     * Sum of the Sensor angles in each (xyz) direction. "Total Pronation / Flexion / Abduction".
     */
    TArray<FVector> GetTotalGloveAngles() const;

    /**
     * Calculate fingertip positions based on a user profile.
     */
    TArray<FVector> CalculateFingerTips(const USGSenseGloveHandProfile* SenseGloveHandProfile) const;

    /**
     * Calculate fingertip positions, knowing the offset between thimble and fingertips.
     */
    TArray<FVector> CalculateFingerTips(const TArray<FVector>& FingerOffsets) const;

    /**
     * Returns true if this glove pose equals another.
     */
    bool Equals(const USGSenseGlovePose* SenseGlovePose) const;

public:
    /**
     * Returns a user-friendly string representation of this GlovePose for reporting.
     */
    FString ToString(bool bShortFormat = false) const;

    /**
     * Serialize this GlovePose into a string representation.
     */
    FString SGSerialize() const;
};