Plugin/Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGQuatImpl.cpp

/**
 * @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
 *
 *
 */


#include "SGCoreImpl/SGQuatImpl.h"

#include "Containers/StringConv.h"
#include "Runtime/Launch/Resources/Version.h"

#include "SGBuildHacks/SGInclude_Core_Quat.h"
#include "SGBuildHacks/SGInclude_Core_Vect3D.h"
#include "SGCoreImpl/SGVect3DImpl.h"

struct FSGQuatImpl::FImpl
{
    /************************
     * Member variables
     ************************/

    FQuatType Quat;

    /************************
     * Owner object
     ************************/

    FSGQuatImpl* Owner;

    /************************
     * Constructor / Destructor
     ************************/

    explicit FImpl(FSGQuatImpl* InOwner);
    ~FImpl();

    /************************
     * Default copy constructor & copy assignment operator
     ************************/

    FImpl(const FImpl& Rhs) = default;
    FImpl& operator=(const FImpl& Rhs) = default;
};

const FSGQuatImpl& FSGQuatImpl::Identity()
{
    static const FSGQuatImpl I(FQuatType::Identity());
    return I;
}

FSGQuatImpl FSGQuatImpl::FromEuler(const float XAngle, const float YAngle, const float ZAngle)
{
    return FSGQuatImpl(FQuatType::FromEuler(XAngle, YAngle, ZAngle));
}

FSGQuatImpl FSGQuatImpl::FromEuler(const FSGVect3DImpl& Euler)
{
    return FSGQuatImpl(FQuatType::FromEuler(Euler.ToVect3D()));
}

FSGQuatImpl FSGQuatImpl::FromEuler(const FVector& Euler)
{
    return FSGQuatImpl(FQuatType::FromEuler(FSGVect3DImpl(Euler).ToVect3D()));
}

FSGQuatImpl FSGQuatImpl::FromAngleAxis(const float Angle, const float XAxis, const float YAxis, const float ZAxis)
{
    return FSGQuatImpl(FQuatType::FromAngleAxis(Angle, XAxis, YAxis, ZAxis));
}

FSGQuatImpl FSGQuatImpl::FromAngleAxis(const float Angle, const FSGVect3DImpl& Axis)
{
    return FSGQuatImpl(FQuatType::FromAngleAxis(Angle, Axis.ToVect3D()));
}

FSGQuatImpl FSGQuatImpl::FromAngleAxis(const float Angle, const FVector& Axis)
{
    return FSGQuatImpl(FQuatType::FromAngleAxis(Angle, FSGVect3DImpl(Axis).ToVect3D()));
}

FSGQuatImpl FSGQuatImpl::Invert(const FSGQuatImpl& QuatImpl)
{
    return FSGQuatImpl(FQuatType::Invert(QuatImpl.ToQuat()));
}

FSGQuatImpl FSGQuatImpl::Normalize(const FSGQuatImpl& QuatImpl)
{
    return FSGQuatImpl(FQuatType::Normalize(QuatImpl.ToQuat()));
}

bool FSGQuatImpl::Deserialize(const FString& String, FSGQuatImpl& OutResult, const ANSICHAR Delimiter)
{
    FQuatType Quat;
    const bool bReturn = FQuatType::Deserialize(TCHAR_TO_UTF8(*String), Quat, Delimiter);
    OutResult = FSGQuatImpl(Quat);
    return bReturn;
}

FSGQuatImpl::FSGQuatImpl()
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
{
}

FSGQuatImpl::FSGQuatImpl(const float X, const float Y, const float Z, const float W)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
{
    Pimpl->Quat = FQuatType(X, Y, Z, W);
}

FSGQuatImpl::FSGQuatImpl(const FQuatType& Quat)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
{
    Pimpl->Quat = Quat;
}

FSGQuatImpl::FSGQuatImpl(const FQuat& Quat)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
{
    /// NOTE
    /// Unreal Engine uses a left-handed, z-up world coordinate system, which yealds clockwise rotations:
    ///     Forward X
    ///     Right   Y
    ///     Up      Z
    /// SenseGlove uses a right-handed, z-up corrdinate systenm, which yealds counter-clockwise rotations:
    ///     Forward X
    ///     Right   Y
    ///     Up      Z
    Pimpl->Quat = FQuatType(-Quat.X, Quat.Y, -Quat.Z, Quat.W);
}

FSGQuatImpl::FSGQuatImpl(const FSGQuatImpl& Rhs)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{*Rhs.Pimpl}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{*Rhs.Pimpl}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
{
    Pimpl->Owner = this;
}

FSGQuatImpl::FSGQuatImpl(FSGQuatImpl&& Rhs)
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    noexcept
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
    = default;

FSGQuatImpl::~FSGQuatImpl() = default;

FSGQuatImpl& FSGQuatImpl::operator=(const FSGQuatImpl& Rhs)
{
    *Pimpl = *Rhs.Pimpl;
    Pimpl->Owner = this;
    return *this;
}

FSGQuatImpl& FSGQuatImpl::operator=(FSGQuatImpl&& Rhs)
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
    noexcept
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
    = default;

const FSGQuatImpl::FQuatType& FSGQuatImpl::ToQuat() const
{
    return Pimpl->Quat;
}

FQuat FSGQuatImpl::ToFQuat() const
{
    /// NOTE
    /// Unreal Engine uses a left-handed, z-up world coordinate system, which yealds clockwise rotations:
    ///     Forward X
    ///     Right   Y
    ///     Up      Z
    /// SenseGlove uses a right-handed, z-up corrdinate systenm, which yealds counter-clockwise rotations:
    ///     Forward X
    ///     Left    Y
    ///     Up      Z
    return FQuat(-Pimpl->Quat.GetX(),  Pimpl->Quat.GetY(), -Pimpl->Quat.GetZ(), Pimpl->Quat.GetW());
}

FSGQuatImpl FSGQuatImpl::operator*(const FSGQuatImpl& QuatImpl) const
{
    return FSGQuatImpl(Pimpl->Quat.operator*(QuatImpl.ToQuat()));
}

FSGVect3DImpl FSGQuatImpl::operator*(const FSGVect3DImpl& Vect3DImpl) const
{
    return FSGVect3DImpl(Pimpl->Quat.operator*(Vect3DImpl.ToVect3D()));
}

FVector FSGQuatImpl::operator*(const FVector& Vector) const
{
    return FSGVect3DImpl(Pimpl->Quat.operator*(FSGVect3DImpl(Vector).ToVect3D())).ToFVector();
}

float FSGQuatImpl::GetX() const
{
    return Pimpl->Quat.GetX();
}

void FSGQuatImpl::SetX(const float X)
{
    Pimpl->Quat.SetX(X);
}

float FSGQuatImpl::GetY() const
{
    return Pimpl->Quat.GetY();
}

void FSGQuatImpl::SetY(const float Y)
{
    Pimpl->Quat.SetY(Y);
}

float FSGQuatImpl::GetZ() const
{
    return Pimpl->Quat.GetZ();
}

void FSGQuatImpl::SetZ(const float Z)
{
    Pimpl->Quat.SetZ(Z);
}

float FSGQuatImpl::GetW() const
{
    return Pimpl->Quat.GetW();
}

void FSGQuatImpl::SetW(const float W)
{
    Pimpl->Quat.SetW(W);
}

FSGVect3DImpl FSGQuatImpl::ToEulerImpl() const
{
    return FSGVect3DImpl(Pimpl->Quat.ToEuler());
}

FVector FSGQuatImpl::ToEuler() const
{
    return FSGVect3DImpl(Pimpl->Quat.ToEuler()).ToFVector();
}

FSGVect3DImpl FSGQuatImpl::Rotate(const FSGVect3DImpl& Vect3DImpl) const
{
    return FSGVect3DImpl(Pimpl->Quat.Rotate(Vect3DImpl.ToVect3D()));
}

FVector FSGQuatImpl::Rotate(const FVector& Vector) const
{
    return FSGVect3DImpl(Pimpl->Quat.Rotate(FSGVect3DImpl(Vector).ToVect3D())).ToFVector();
}

bool FSGQuatImpl::Equals(const FSGQuatImpl& QuatImpl) const
{
    return Pimpl->Quat.Equals(QuatImpl.ToQuat());
}

bool FSGQuatImpl::IsIdentity() const
{
    return Pimpl->Quat.IsIdentity();
}

float FSGQuatImpl::Magnitude() const
{
    return Pimpl->Quat.Magnitude();
}

FString FSGQuatImpl::ToString() const
{
    return UTF8_TO_TCHAR(Pimpl->Quat.ToString().c_str());
}

FString FSGQuatImpl::Serialize(const ANSICHAR Delimiter) const
{
    return UTF8_TO_TCHAR(Pimpl->Quat.Serialize(Delimiter).c_str());
}

FSGQuatImpl::FImpl::FImpl(FSGQuatImpl* InOwner)
    : Owner(InOwner)
{
}

FSGQuatImpl::FImpl::~FImpl() = default;

void FSGQuatImpl::FImplDeleter::operator()(const FImpl* P) const
{
    delete P;
}