148 lines
3.7 KiB
C++
148 lines
3.7 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 - 2024 SenseGlove
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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 "Containers/UnrealString.h"
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#include "Math/Vector.h"
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#include "Templates/UniquePtr.h"
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#include "SGBuildHacks/SGPlatform.h"
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namespace SGCore
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{
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namespace SG
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{
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class SenseGlovePose;
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}
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}
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class FSGSenseGloveHandProfileImpl;
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class FSGSenseGloveInfoImpl;
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class SENSEGLOVECOREIMPL_API FSGSenseGlovePoseImpl final
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{
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public:
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typedef SGCore::SG::SenseGlovePose FSenseGlovePoseType;
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public:
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static FSGSenseGlovePoseImpl IdlePose(const FSGSenseGloveInfoImpl& GloveInfo);
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static FSGSenseGlovePoseImpl Deserialize(const FString& SerializedString);
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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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FSGSenseGlovePoseImpl();
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FSGSenseGlovePoseImpl(bool bRightHanded,
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const TArray<TArray<FVector>>& JointPositions,
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const TArray<TArray<FQuat>>& JointRotations,
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const TArray<TArray<FVector>>& GloveAngles);
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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 FSGSenseGlovePoseImpl(const FSenseGlovePoseType& SenseGlovePose);
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public:
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/**
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* The copy constructor.
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*/
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FSGSenseGlovePoseImpl(const FSGSenseGlovePoseImpl& Rhs);
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/**
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* The move constructor.
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*/
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FSGSenseGlovePoseImpl(FSGSenseGlovePoseImpl&& Rhs) SG_NOEXCEPT;
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public:
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/**
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* The destructor.
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*/
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virtual ~FSGSenseGlovePoseImpl();
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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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FSGSenseGlovePoseImpl& operator=(const FSGSenseGlovePoseImpl& Rhs);
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/**
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* The move assignment operator.
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*/
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FSGSenseGlovePoseImpl& operator=(FSGSenseGlovePoseImpl&& Rhs) SG_NOEXCEPT;
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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 FSenseGlovePoseType& ToSenseGlovePose() const;
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public:
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bool IsRight() const;
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TArray<TArray<FVector>> GetJointPositions() const;
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TArray<TArray<FQuat>> GetJointRotations() const;
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TArray<TArray<FVector>> GetGloveAngles() const;
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public:
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TArray<FVector> GetThimblePositions() const;
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TArray<FQuat> GetThimbleRotations() const;
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TArray<FVector> GetTotalGloveAngles() const;
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TArray<FVector> CalculateFingertips(const TArray<FVector>& FingerOffsets) const;
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bool Equals(const FSGSenseGlovePoseImpl& SenseGlovePoseImpl) const;
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public:
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FString ToString(bool bShortFormat = true) const;
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FString Serialize() const;
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}; |