Plugin/Source/SenseGloveCore/Public/SGCore/SGBasicHandModel.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
 *
 * A data class containing the minimum required data for a hand's forward
 * kinematics.
 * Used in both kinematics and calibration.
 */


#pragma once

#include "Containers/Array.h"
#include "Containers/UnrealString.h"
#include "HAL/Platform.h"
#include "Math/Quat.h"
#include "Math/Vector.h"
#include "Templates/UniquePtr.h"
#include "UObject/Object.h"
#include "UObject/ObjectMacros.h"

#include "SGCore/SGFloatArray.h"
#include "SGTypes/SGCoreTypes.h"
#include "SGUtils/SGArrayUtils.h"

#include "SGBasicHandModel.generated.h"

class FSGBasicHandModelImpl;

/**
 * Represents data of a user's hand required for forward kinematics.
 */
UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGBasicHandModel final : public UObject
{
    GENERATED_BODY()

public:
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer, const FSGBasicHandModelImpl& BasicHandModelImpl);

public:
    /**
     * The basic class constructor.
     */
    static USGBasicHandModel* NewBasicHandModel(UObject* Outer);

    /**
     * Create a new BasicHandModel with no starting rotations.
     */
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer,
        bool bRightHanded, const TArray<TArray<float>>& Lengths, const TArray<FVector>& StartPositions);

    /**
     * Create a new BasicHandModel with no starting rotations.
     */
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer,
        bool bRightHanded, const TArray<FSGFloatArray>& Lengths, const TArray<FVector>& StartPositions);

    /**
     * Create a new BasicHandModel.
     */
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer,
        bool bRightHanded, const TArray<TArray<float>>& Lengths,
        const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations);

    /**
     * Create a new BasicHandModel.
     */
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer,
        bool bRightHanded, const TArray<TArray<float>>& Lengths,
        const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations);

    /**
     * Create a new BasicHandModel.
     */
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer,
        bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
        const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations);

    /**
     * Create a new BasicHandModel.
     */
    static USGBasicHandModel* NewBasicHandModel(
        UObject* Outer,
        bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
        const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations);

public:
    /**
     * Retrieve a default left or right hand model.
     */
    static USGBasicHandModel* Default(UObject* Outer, bool bRightHanded);

    /**
     * Convert a serialized HandModel back into its class representation.
     */
    static USGBasicHandModel* Deserialize(UObject* Outer, const FString& SerializedString);

public:
    /**
     * Default finger lengths (based on right hand).
     *
     * @remarks Any missing fingers are replaced with their respective value.
     */
    static TArray<TArray<float>> GetBaseFingerLengths();

    /**
     * Default joint positions (based on right hand).
     *
     * @remarks Any missing positions are replaced with their respective value.
     */
    static TArray<FVector> GetBaseJointPositions();

    /**
     * Default joint angles (based on right hand).
     *
     * @remarks Any missing angles are replaced with their respective value.
     */
    static TArray<FVector> GetBaseJointAngles();

private:
    struct FImpl;

    struct FImplDeleter
    {
        void operator()(const FImpl* P) const;
    };

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    /**
     * The basic class constructor.
     */
    USGBasicHandModel();

    /**
     * Create a new BasicHandModel with no starting rotations.
     */
    USGBasicHandModel(bool bRightHanded, const TArray<TArray<float>>& Lengths,
                      const TArray<FVector>& StartPositions);

    /**
     * Create a new BasicHandModel with no starting rotations.
     */
    USGBasicHandModel(bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
                      const TArray<FVector>& StartPositions);

    /**
     * Create a new BasicHandModel.
     */
    USGBasicHandModel(bool bRightHanded, const TArray<TArray<float>>& Lengths,
                      const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations);

    /**
     * Create a new BasicHandModel.
     */
    USGBasicHandModel(bool bRightHanded, const TArray<TArray<float>>& Lengths,
                      const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations);

    /**
     * Create a new BasicHandModel.
     */
    USGBasicHandModel(bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
                      const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations);

    /**
     * Create a new BasicHandModel.
     */
    USGBasicHandModel(bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
                      const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit USGBasicHandModel(const FSGBasicHandModelImpl& BasicHandModelImpl);

public:
    /**
     * The destructor.
     */
    virtual ~USGBasicHandModel() override;

protected:
    /**
     * Allows to set the underlying object after construction.
     */
    void SetBasicHandModelImpl(const FSGBasicHandModelImpl& BasicHandModelImpl);

public:
    /**
     * The cast to underlying type method.
     */
    const FSGBasicHandModelImpl& ToBasicHandModelImpl() const;

protected:
    /**
     * The non-const cast to underlying type method.
     */
    FSGBasicHandModelImpl& ToBasicHandModelImpl();

public:
    /**
     * Whether or not this BasicHandModel was created for a left- or right hand. Used for validation.
     */
    bool IsRight() const;

    /**
     * The length of individual finger phalangers in mm, sorted per finger. Generally 5x3.
     */
    TArray<TArray<float>> GetFingerLengths() const;

    /**
     * Retrieve the finger lengths of a specific finger in cm.
     */
    TArray<float> GetFingerLengths(ESGFinger Finger) const;

    /**
     * Set the finger lengths of a specific finger in cm.
     */
    void SetFingerLengths(ESGFinger Finger, const TArray<float>& Lengths);

    /**
     * Set the finger lengths of a specific finger in cm.
     */
    void SetFingerLengths(uint8 Finger, const TArray<float>& Lengths);

    /**
     * Get the finger ratios of all fingers.
     */
    TArray<TArray<float>> GetFingerRatios() const;

    /**
     * Get the finger ratios of a specific finger.
     */
    TArray<float> GetFingerRatios(ESGFinger Finger) const;

    /**
     * Starting joint positions relative to the device Origin.
     */
    TArray<FVector> GetStartJointPositions() const;

    /**
     *
     */
    void SetStartJointPosition(ESGFinger Finger, const FVector& Position);

    /**
     *
     */
    void SetStartJointPosition(uint8 Finger, const FVector& Position);

    /**
     * Starting joint rotations relative to the device Origin.
     */
    TArray<FQuat> GetStartJointRotationsQ() const;

    /**
     * Starting joint rotations relative to the device Origin.
     */
    TArray<FRotator> GetStartJointRotations() const;

    /**
     * Retrieve the start position of a specific finger.
     */
    FVector GetJointPosition(ESGFinger Finger) const;

    /**
     * Set the start position of a specific finger.
     */
    void SetJointPosition(const FVector& NewPosition, ESGFinger Finger);

    /**
     * Retrieve the start rotation of a specific finger.
     */
    FQuat GetJointRotationQ(ESGFinger Finger) const;

    /**
     * Retrieve the start rotation of a specific finger.
     */
    FRotator GetJointRotation(ESGFinger Finger) const;

    /**
     * Set the start rotation of a specific finger.
     */
    void SetJointRotation(const FQuat& NewRotation, ESGFinger Finger);

    /**
     * Set the start rotation of a specific finger.
     */
    void SetJointRotation(const FRotator& NewRotation, ESGFinger Finger);

    /**
     * Get the total lengths of fingers, in cm.
     */
    TArray<float> GetTotalLengths() const;

    /**
     * Get the total length of a specific finger, in mm.
     */
    float GetTotalLength(ESGFinger Finger) const;

public:
    /**
     * Retrieve the lengths of a specific finger, as BasicHandModel representation (L, 0, 0).
     *
     * @remarks Used for forwards kinematics.
     */
    TArray<FVector> Get3DLengths(ESGFinger Finger) const;

public:
    /**
     * Check if this BasicHandModel has the same values as another BasicHandModel.
     */
    bool Equals(const USGBasicHandModel* BasicHandModel) const;

public:
    /**
     * Convert this handModel into a string notation, readable for humans. Does not include starting positions / rotations.
     */
    FString ToString() const;

    /**
     * Convert this handModel into a string notation, readable for humans. Optionally includes starting positions / rotations.
     */
    FString ToString(bool bLengthsOnly) const;

    /**
     * Serialize this HandModel into a string representation.
     */
    FString SGSerialize() const;
};