Plugin/Source/SenseGloveCoreKismet/Public/SGCoreKismet/SGTrackingKismetLibrary.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 "Containers/Array.h"
#include "Math/Quat.h"
#include "Math/Rotator.h"
#include "Math/Vector.h"

#include "SGKismet/SGBlueprintFunctionLibrary.h"
#include "SGTypes/SGCoreTypes.h"

#include "SGTrackingKismetLibrary.generated.h"

/**
 *
 */
UCLASS(meta=(ScriptName = "SesneGloveTrackingKismetLibrary"))
class SENSEGLOVECOREKISMET_API USGTrackingKismetLibrary final : public USGBlueprintFunctionLibrary
{
    GENERATED_BODY()

public:
    /**
     * Knowing a position & rotation in 3D space, calculate a relative location based on offsets.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Calculate Location", Category="SenseGlove | Core | Tracking")
    static void CalculateLocation_TP_FQuat_TR_PO_FQuat_RO_OutNP_FQuat_OutNR(
        const FVector& TrackedPosition, const FQuat& TrackedRotation,
        const FVector& PositionOffset, const FQuat& RotationOffset,
        FVector& OutNewPosition, FQuat& OutNewRotation);

    /**
     * Knowing a position & rotation in 3D space, calculate a relative location based on offsets.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Calculate Location", Category="SenseGlove | Core | Tracking")
    static void CalculateLocation_TP_FRotator_TR_PO_FRotator_RO_OutNP_FRotator_OutNR(
        const FVector& TrackedPosition, const FRotator& TrackedRotation,
        const FVector& PositionOffset, const FRotator& RotationOffset,
        FVector& OutNewPosition, FRotator& OutNewRotation);

    /**
     * Positional offset from each finger to the glove origin.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static TArray<FVector> GetSenseGloveFingerToGlovePositionOrigin();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Finger To Glove Rotation Origin",
        Category="SenseGlove | Core | Tracking")
    static TArray<FQuat> GetSenseGloveFingerToGloveRotationOrigin_TArrayFQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Finger To Glove Rotation Origin",
        Category="SenseGlove | Core | Tracking")
    static TArray<FRotator> GetSenseGloveFingerToGloveRotationOrigin_TArrayFRotator();

    /**
     * Default position offset from glove origin to wrist location, in cm.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetSenseGloveWristPositionOffset();

    /**
     * Default rotation offset from glove origin to wrist location.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Wrist Rotation Offset",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetSenseGloveWristRotationOffset_FQuat();

    /**
     * Default rotation offset from glove origin to wrist location.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Wrist Rotation Offset",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetSenseGloveWristRotationOffset_FRotator();

    /**
     * Get the position and rotation offsets to go from the glove origin to the mounted position.
     * @remarks Based on CAD. needs to be inverted when going from tracker to glove origin.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Mount Offset", Category="SenseGlove | Core | Tracking")
    static void GetSenseGloveMountOffset_bRH_TF_OutIP_FQuat_OutIR(
        bool bRightHanded, ESGFinger ToFinger, FVector& OutIPosition, FQuat& OutIRotation);

    /**
     * Get the position and rotation offsets to go from the glove origin to the mounted position.
     * @remarks Based on CAD. needs to be inverted when going from tracker to glove origin.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Mount Offset", Category="SenseGlove | Core | Tracking")
    static void GetSenseGloveMountOffset_bRH_TF_OutIP_FRotator_OutIR(
        bool bRightHanded, ESGFinger ToFinger, FVector& OutIPosition, FRotator& OutIRotation);

    /**
     * Get the offset to get from the TrackedHardware to a SenseGlove mounting location. Combined with Glove-Mount offset to get the glove location.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Tracker Mouunt Offset",
        Category="SenseGlove | Core | Tracking")
    static void GetSenseGloveTrackerMountOffset_H_bRH_OutPO_FQuat_OutRO(
        ESGPositionalTrackingHardware Hardware, bool bRightHanded,
        FVector& OutPositionOffset, FQuat& OutRotationOffset);

    /**
     * Get the offset to get from the TrackedHardware to a SenseGlove mounting location. Combined with Glove-Mount offset to get the glove location.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Tracker Mouunt Offset",
        Category="SenseGlove | Core | Tracking")
    static void GetSenseGloveTrackerMountOffset_H_bRH_OutPO_FRotator_OutRO(
        ESGPositionalTrackingHardware Hardware, bool bRightHanded,
        FVector& OutPositionOffset, FRotator& OutRotationOffset);

    /**
     * Vive Tracker origin to Finger rotational offset.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetSenseGloveViveToAttachPosition();

    /**
     * Vive Tracker origin to Finger rotational offset.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Vive To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetSenseGloveViveToAttachRotation_FQuat();

    /**
     * Vive Tracker origin to Finger rotational offset.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Vive To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetSenseGloveViveToAttachRotation_FRotator();

    /**
     * Oculus Touch origin to Finger rotational offset.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetSenseGloveOculusTouchToAttachPosition();

    /**
     * Oculus Touch origin to Finger rotational offset.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Oculus Touch To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetSenseGloveOculusTouchToAttachRotation_FQuat();

    /**
     * Oculus Touch origin to Finger rotational offset.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get SenseGlove Oculus Touch To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetSenseGloveOculusTouchToAttachRotation_FRotator();

    /**
     * Positional offset between Nova Glove Origin and Wrist.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetNovaToWristPositionOffset();

    /**
     * Rotational offset between Nova Glove Origin and Wrist.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Nove To Wrist Rotation Offset",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetNovaToWristRotationOffset_FQuat();

    /**
     * Rotational offset between Nova Glove Origin and Wrist.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Nove To Wrist Rotation Offset",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetNovaToWristRotationOffset_FRotator();

    /**
     * Returns the Offsets that will bring us from the Nova origin to the wrist position.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove Wrist Offset", Category="SenseGlove | Core | Tracking")
    static void GetNovaGloveWristOffset_bRH_OutPO_FQuat_OutRO(
        bool bRightHanded, FVector& OutPositionOffset, FQuat& OutRotationOffset);

    /**
     * Returns the Offsets that will bring us from the Nova origin to the wrist position.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove Wrist Offset", Category="SenseGlove | Core | Tracking")
    static void GetNovaGloveWristOffset_bRH_OutPO_FRotator_OutRO(
        bool bRightHanded, FVector& OutPositionOffset, FRotator& OutRotationOffset);

    /**
     *
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetRightNovaViveToAttachPosition();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Right Nova Vive To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetRightNovaViveToAttachRotation_FQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Right Nova Vive To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetRightNovaViveToAttachRotation_FRotator();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetLeftNovaViveToAttachPosition();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Left Nova Vive To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetLeftNovaViveToAttachRotation_FQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Left Nova Vive To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetLeftNovaViveToAttachRotation_FRotator();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetRightNovaQuest2ToAttachPosition();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Right Nova Quest 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetRightNovaQuest2ToAttachRotation_FQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Right Nova Quest 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetRightNovaQuest2ToAttachRotation_FRotator();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetLeftNovaQuest2ToAttachPosition();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Left Nova Quest 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetLeftNovaQuest2ToAttachRotation_FQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Left Nova Quest 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetLeftNovaQuest2ToAttachRotation_FRotator();

    /**
     * @remarks Left is a mirror, so we only need R pos.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FVector GetRightNovaPico2ToAttachPosition();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Right Nova Pico 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetRightNovaPico2ToAttachRotation_FQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Right Nova Pico 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetRightNovaPico2ToAttachRotation_FRotator();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Left Nova Pico 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FQuat GetLeftNovaPico2ToAttachRotation_FQuat();

    /**
     *
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Left Nova Pico 2 To Attach Rotation",
        Category="SenseGlove | Core | Tracking")
    static FRotator GetLeftNovaPico2ToAttachRotation_FRotator();

    /**
     * Retrieves Offsets for a particular device.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove Tracker Offset", Category="SenseGlove | Core | Tracking")
    static void GetNovaGloveTrackerOffset_H_bRH_OutPO_FQuat_OutRO(
        ESGPositionalTrackingHardware Hardware, bool bRightHanded,
        FVector& OutPositionOffset, FQuat& OutRotationOffset);

    /**
     * Retrieves Offsets for a particular device.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove Tracker Offset", Category="SenseGlove | Core | Tracking")
    static void GetNovaGloveTrackerOffset_H_bRH_OutPO_FRotator_OutRO(
        ESGPositionalTrackingHardware Hardware, bool bRightHanded,
        FVector& OutPositionOffset, FRotator& OutRotationOffset);

    /**
     *
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Tracking")
    static FString ToString(ESGPositionalTrackingHardware Hardware);
};