387 lines
17 KiB
C++
387 lines
17 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 NovaGlove
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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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* An interface for the "Nova" - a soft glove.
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* Contains methods for Kinematics, Haptics and Serialization.
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*/
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#pragma once
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#include "SGKismet/SGBlueprintFunctionLibrary.h"
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#include "SGTypes/SGCoreTypes.h"
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#include "SGNovaGloveKismetLibrary.generated.h"
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class USGBasicHandModel;
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class USGBuzzCommand;
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class USGDevice;
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class USGForceFeedbackCommand;
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class USGHandPose;
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class USGHandProfile;
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class USGNovaGlove;
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class USGNovaGloveHandProfile;
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class USGNovaGloveSensorData;
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class USGThumperCommand;
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/**
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* A soft glove with Force- and Vibrotactile Feedback and limited tracking.
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*/
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UCLASS(meta=(ScriptName = "SesneGloveNovaGloveKismetLibrary"))
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class SENSEGLOVECOREKISMET_API USGNovaGloveKismetLibrary final : public USGBlueprintFunctionLibrary
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{
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GENERATED_BODY()
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public:
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/**
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* Byte indicating a new Nova haptic command.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString GetHapticsByte();
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/**
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* Minimum calibration value distance until we apply the range.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FVector GetMinCalibrationRange();
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/**
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* Calculate a Hand Pose based on a HandMode; sensor data from a Nova, and a UserProfile.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static USGHandPose* CalculateHandPose(UObject* WorldContextObject,
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const USGBasicHandModel* HandModel,
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const USGNovaGloveSensorData* NovaData,
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const USGNovaGloveHandProfile* Profile);
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/**
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* Deserializes a Nova from its ConstantsString. Returns a nullptr if unsuccessful.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static USGDevice* Parse(UObject* WorldContextObject, const FString& ConstantsString);
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/**
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* Retrieve all Nova's.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static TArray<USGNovaGlove*> GetNovaGloves(UObject* WorldContextObject);
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/**
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* Retrieve the first connected Nova there is.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetNovaGlove_OutG(UObject* WorldContextObject, USGNovaGlove*& OutGlove);
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/**
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* Retrieve the first (connected) right or left handed Nova.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetNovaGlove_bRH_OutG(UObject* WorldContextObject,
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bool bRightHanded, USGNovaGlove*& OutGlove);
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/**
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* Convert a SenseGlove GlovePose into calibrationValues.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Calibration Values", Category="SenseGlove | Core | Nova | Nova Glove")
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static TArray<FVector> GetCalibrationValues_SD(const USGNovaGloveSensorData* SensorData);
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/**
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*
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static void CalibrateInterpolation(UObject* WorldContextObject,
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const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
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USGNovaGloveHandProfile*& OutProfile);
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/**
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* Retrieve the location of the glove origin, based on a reference location without requiring an object reference.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Location",
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Category="SenseGlove | Core | Nova | Nova Glove")
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static void CalculateGloveLocation_RP_FQuat_RR_TH_bRH_OutGP_OutGR(
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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FVector& OutGlovePosition, FQuat& OutGloveRotation);
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/**
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* Retrieve the location of the glove origin, based on a reference location without requiring an object reference.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Location",
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Category="SenseGlove | Core | Nova | Nova Glove")
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static void CalculateGloveLocation_RP_FRotator_RR_TH_bRH_OutGP_OutGR(
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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FVector& OutGlovePosition, FRotator& OutGloveRotation);
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets, without needing an object reference.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Wrist Location",
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Category="SenseGlove | Core | Nova | Nova Glove")
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static void CalculateWristLocation_RP_FQuat_RR_TH_bRH_OutWP_OutWR(
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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FVector& OutWristPosition, FQuat& OutWristRotation);
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets, without needing an object reference.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Wrist Location",
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Category="SenseGlove | Core | Nova | Nova Glove")
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static void CalculateWristLocation_RP_FRotator_RR_TH_bRH_OutWP_OutWR(
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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FVector& OutWristPosition, FRotator& OutWristRotation);
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/**
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* Converts a thumper command into bytes that the Nova can understand.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="To Bytes", Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToBytes_TC(const USGThumperCommand* ThumperCommand);
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/**
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* Converts a force-feedback command into bytes that the Nova can understand.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="To Bytes", Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToBytes_FFC(const USGForceFeedbackCommand* ForceFeedbackCommand);
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/**
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* Converts a buzz-motor command into bytes that the Nova can understand.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="To Bytes", Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToBytes_BC(const USGBuzzCommand* BuzzCommand);
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/**
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* Return the DeviceType of this Nova.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static ESGDeviceType GetDeviceType(const USGNovaGlove* NovaGlove);
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/**
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* Returns this device's unique identifier.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString GetDeviceId(const USGNovaGlove* NovaGlove);
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/**
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* Access this device's hardware designation.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString GetHardwareVersion(const USGNovaGlove* NovaGlove);
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/**
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* Access this device's main firmware version. (ex: v3.2 -> 3).
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static int32 GetFirmwareVersion(const USGNovaGlove* NovaGlove);
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/**
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* Access this device's sub-firmware version. (ex: v3.2 -> 2).
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static int32 GetSubFirmwareVersion(const USGNovaGlove* NovaGlove);
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/**
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* Returns true if this device operates on a battery.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool HasBattery(const USGNovaGlove* NovaGlove);
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/**
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* Returns true if this device is currently charging.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool IsCharging(UPARAM(ref) USGNovaGlove* NovaGlove);
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/**
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* Returns the device's battery level, as a value between 0 (empty) and 1 (full).
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool GetBatteryLevel(UPARAM(ref) USGNovaGlove* NovaGlove, float& OutBatteryLevel);
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/**
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* Get the latest Sensor Data from this Sense Glove.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetSensorData(UObject* WorldContextObject,
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UPARAM(ref) USGNovaGlove* NovaGlove, USGNovaGloveSensorData*& OutSensorData);
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/**
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* Retrieve Nova rotation.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Nova | Nova Glove")
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static bool GetImuRotation_FQuat_OutI(UPARAM(ref) USGNovaGlove* NovaGlove, FQuat& OutImu);
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/**
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* Retrieve Nova rotation.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Nova | Nova Glove")
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static bool GetImuRotation_FRotator_OutI(UPARAM(ref) USGNovaGlove* NovaGlove, FRotator& OutImu);
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/**
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* Retrieve a new hand pose using this glove, based on (calibrated) user data.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_HM_P_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGNovaGlove* NovaGlove,
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const USGBasicHandModel* HandModel,
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const USGNovaGloveHandProfile* Profile,
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USGHandPose*& OutHandPose);
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/**
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* Retrieve a new hand pose using this glove, based on (calibrated) user data.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_HG_HP_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGNovaGlove* NovaGlove,
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const USGBasicHandModel* HandGeometry,
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const USGHandProfile* HandProfile,
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USGHandPose*& OutHandPose);
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/**
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* Calculate the HandPose of this Device, taking into account user values, but not hand geometry.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_HP_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGNovaGlove* NovaGlove,
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const USGHandProfile* HandProfile,
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USGHandPose*& OutHandPose);
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/**
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* Send all available haptics to a Nova.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Nova | Nova Glove")
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static void SendHaptics_FFC(UPARAM(ref) USGNovaGlove* NovaGlove,
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const USGForceFeedbackCommand* ForceFeedbackCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Nova | Nova Glove")
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static void SendHaptics_BC(UPARAM(ref) USGNovaGlove* NovaGlove, const USGBuzzCommand* BuzzCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Nova | Nova Glove")
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static void SendHaptics_TC(UPARAM(ref) USGNovaGlove* NovaGlove, const USGThumperCommand* ThumperCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Nova | Nova Glove")
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static void SendHaptics_FFC_BC_TC(
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UPARAM(ref) USGNovaGlove* NovaGlove,
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const USGForceFeedbackCommand* ForceFeedbackCommand,
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const USGBuzzCommand* BuzzCommand,
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const USGThumperCommand* ThumperCommand);
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/**
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* Retrieve calibration values of this glove, as an array of size 5, containing x (roll), y (flexion), z (abduction) values.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Calibration Values", Category="SenseGlove | Core | Nova | Nova Glove")
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static bool GetCalibrationValues_OutV(UPARAM(ref) USGNovaGlove* NovaGlove, TArray<FVector>& OutValues);
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/**
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* Applies the calibration range of this Nova a HandProfile.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Apply Calibration", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static void ApplyCalibration_USGHandProfile_OutP(UObject* WorldContextObject,
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const USGNovaGlove* NovaGlove,
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USGHandProfile*& OutProfile);
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/**
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* Applies the calibration range of this SenseGlove to a NovaGloveHandProfile.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Apply Calibration", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static void ApplyCalibration_USGNovaGloveHandProfile_OutP(UObject* WorldContextObject,
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const USGNovaGlove* NovaGlove,
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USGNovaGloveHandProfile*& OutProfile);
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/**
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* Retrieve the location of the glove origin, based on a reference location.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | Nova | Nova Glove")
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static void GetGloveLocation_RP_FQuat_RR_TH_OutGP_FQuat_OutGR(
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const USGNovaGlove* NovaGlove,
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FQuat& OutGloveRotation);
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/**
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* Retrieve the location of the glove origin, based on a reference location.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | Nova | Nova Glove")
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static void GetGloveLocation_RP_FRotator_RR_TH_OutGP_FRotator_OutGR(
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const USGNovaGlove* NovaGlove,
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FRotator& OutGloveRotation);
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | Nova | Nova Glove")
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static void GetWristLocation_RP_FQuat_RR_TH_OutWP_FQuat_OutWR(
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const USGNovaGlove* NovaGlove,
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FQuat& OutWristRotation);
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | Nova | Nova Glove")
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static void GetWristLocation_RP_FRotator_RR_TH_OutWP_FRotator_OutWR(
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const USGNovaGlove* NovaGlove,
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FRotator& OutWristRotation);
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/**
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* Create a string representation of this device for reporting purposes.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToString(const USGNovaGlove* NovaGlove);
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};
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