288 lines
10 KiB
C++
288 lines
10 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 - 2022 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 <memory>
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#include <vector>
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#include "Math/Quat.h"
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#include "Math/Vector.h"
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#include "Runtime/Launch/Resources/Version.h"
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#include "Templates/SharedPointer.h"
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#include "Templates/UniquePtr.h"
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#include "SGCoreImpl/SGHapticGloveImpl.h"
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#include "SGTypes/SGCoreTypes.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 SenseGlove;
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}
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}
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class FSGBasicHandModelImpl;
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class FSGBuzzCommandImpl;
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class FSGForceFeedbackCommandImpl;
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class FSGHandPoseImpl;
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class FSGHandProfileImpl;
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class FSGSenseGloveHandProfileImpl;
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class FSGSenseGloveInfoImpl;
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class FSGSenseGlovePoseImpl;
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class FSGSenseGloveSensorDataImpl;
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class FSGThumperCommandImpl;
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class SENSEGLOVECOREIMPL_API FSGSenseGloveImpl final : public FSGHapticGloveImpl
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{
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#if ENGINE_MAJOR_VERSION >= 5
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friend class SharedPointerInternals::TIntrusiveReferenceController<FSGSenseGloveImpl, ESPMode::ThreadSafe>;
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#else
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friend class SharedPointerInternals::TIntrusiveReferenceController<FSGSenseGloveImpl>;
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#endif /* ENGINE_MAJOR_VERSION >= 5 */
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public:
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typedef SGCore::SG::SenseGlove FSenseGloveType;
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typedef std::vector<FSenseGloveType> FSenseGloveVectorType;
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typedef std::shared_ptr<FSenseGloveType> FSenseGlovePtrType;
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typedef std::vector<FSenseGlovePtrType> FSenseGlovePtrVectorType;
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public:
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static ANSICHAR GetHapticsByte();
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static ANSICHAR GetThumperByte();
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public:
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static FSGSenseGlovePoseImpl CalculateGlovePose(const FSGSenseGloveSensorDataImpl& SensorData,
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const FSGSenseGloveInfoImpl& GloveModel);
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static FSGSenseGlovePoseImpl CalculateGlovePose(const TArray<TArray<FVector>>& GloveAngles,
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const FSGSenseGloveInfoImpl& GloveModel);
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static FSGHandPoseImpl CalculateHandPose(const FSGSenseGlovePoseImpl& GlovePose,
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const FSGBasicHandModelImpl& HandModel,
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const FSGSenseGloveHandProfileImpl& Profile);
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public:
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static TSharedRef<FSGDeviceImpl> Parse(const FString& ConstantsString);
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static TArray<FSGSenseGloveImpl> GetSenseGloves();
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static bool GetSenseGlove(FSGSenseGloveImpl& OutGlove);
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static bool GetSenseGlove(bool bRightHanded, FSGSenseGloveImpl& OutGlove);
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public:
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static TArray<FVector> GetCalibrationValues(const FSGSenseGlovePoseImpl& GlovePose);
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static void CalibrateInterpolation(const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
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bool bRightHanded, FSGSenseGloveHandProfileImpl& OutProfile);
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public:
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static void CalculateGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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bool bRightHanded, ESGFinger MountedOn,
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FVector& OutGlovePosition, FQuat& OutGloveRotation);
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static void CalculateWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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bool bRightHanded, ESGFinger MountedOn,
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const FVector& GloveWristPositionOffset,
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const FQuat& GloveWristRotationOffset,
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FVector& OutWristPosition, FQuat& OutWristRotation);
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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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FSGSenseGloveImpl();
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explicit FSGSenseGloveImpl(const FSGSenseGloveInfoImpl& Model);
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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 FSGSenseGloveImpl(const FSenseGloveType SenseGlove);
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/**
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* The cast from underlying pointer type constructor.
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*/
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explicit FSGSenseGloveImpl(const FSenseGlovePtrType SenseGlove);
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public:
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/**
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* The copy constructor.
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*/
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FSGSenseGloveImpl(const FSGSenseGloveImpl& Rhs);
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/**
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* The move constructor.
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*/
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FSGSenseGloveImpl(FSGSenseGloveImpl&& Rhs) 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 ~FSGSenseGloveImpl() override;
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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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FSGSenseGloveImpl& operator=(const FSGSenseGloveImpl& Rhs);
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/**
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* The move assignment operator.
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*/
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FSGSenseGloveImpl& operator=(FSGSenseGloveImpl&& Rhs) 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 FSenseGloveType& ToSenseGlove() const;
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/**
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* The cast to underlying pointer type method.
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*/
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FSenseGlovePtrType ToSenseGlovePtr() const;
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/**
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* The checked cast to underlying pointer type method.
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*/
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FSenseGlovePtrType ToSenseGlovePtrChecked() const;
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public:
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FSGSenseGloveInfoImpl GetGloveModel() const;
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virtual bool IsRight() const override;
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public:
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virtual ESGDeviceType GetDeviceType() const override;
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virtual FString GetDeviceId() const override;
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virtual FString GetHardwareVersion() const override;
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virtual int32 GetFirmwareVersion() const override;
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virtual int32 GetSubFirmwareVersion() const override;
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public:
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bool GetSensorData(FSGSenseGloveSensorDataImpl& OutSensorData) const;
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virtual bool GetImuRotation(FQuat& OutImu) override;
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bool GetGlovePose(FSGSenseGlovePoseImpl& OutGlovePose);
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bool GetGlovePose(const FSGSenseGloveSensorDataImpl& SensorData, FSGSenseGlovePoseImpl& OutGlovePose);
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/// HACK
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/// 'FSGSenseGloveImpl::GetHandPose' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
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/// tell the compiler we want both the GetHandPose from FSGHapticGloveImpl and FSGSenseGloveImpl
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using FSGHapticGloveImpl::GetHandPose;
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bool GetHandPose(const FSGBasicHandModelImpl& HandModel, const FSGSenseGloveHandProfileImpl& Profile,
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FSGHandPoseImpl& OutHandPose);
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virtual bool GetHandPose(const FSGBasicHandModelImpl& HandGeometry, const FSGHandProfileImpl& HandProfile,
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FSGHandPoseImpl& OutHandPose) override;
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virtual bool GetHandPose(const FSGHandProfileImpl& HandProfile, FSGHandPoseImpl& OutHandPose) override;
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public:
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/// HACK
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/// 'FSGSenseGloveImpl::SendHaptics' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
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/// tell the compiler we want both the SendHaptics from FSGHapticGloveImpl and FSGSenseGloveImpl
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using FSGHapticGloveImpl::SendHaptics;
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bool SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
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const FSGBuzzCommandImpl& BuzzCommand,
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ESGSenseGloveThumperCommand ThumperCommand = ESGSenseGloveThumperCommand::None);
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bool SendHaptics(ESGSenseGloveThumperCommand ThumperCommand);
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virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand) override;
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virtual void SendHaptics(const FSGBuzzCommandImpl& BuzzCommand) override;
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virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
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const FSGBuzzCommandImpl& BuzzCommand,
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const FSGThumperCommandImpl& ThumperCommand) override;
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public:
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virtual bool GetCalibrationValues(TArray<FVector>& OutValues) override;
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virtual void ResetCalibrationRange() override;
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virtual void ApplyCalibration(FSGHandProfileImpl& OutProfile) const override;
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void ApplyCalibration(FSGSenseGloveHandProfileImpl& OutProfile) const;
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public:
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virtual void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FQuat& OutGloveRotation) const override;
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void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
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FVector& OutGlovePosition, FQuat& OutGloveRotation) const;
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virtual void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FQuat& OutWristRotation) const override;
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void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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const FVector& GloveWristPositionOffset,
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const FQuat& GloveWristRotationOffset,
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FVector& OutWristPosition, FQuat& OutWristRotation) const;
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public:
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virtual FString ToString() const override;
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}; |