Plugin/Source/SenseGloveCoreKismet/Public/SGCoreKismet/SGSenseGlovePoseKismetLibrary.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
 *
 * Contains position and rotation data of a SenseGlove's exoskeleton, along
 * with accessors for relevant variables.
 */


#pragma once

#include "SGCore/SGQuatArray.h"
#include "SGCore/SGRotatorArray.h"
#include "SGCore/SGVectorArray.h"
#include "SGKismet/SGBlueprintFunctionLibrary.h"

#include "SGSenseGlovePoseKismetLibrary.generated.h"

class USGSenseGloveHandProfile;
class USGSenseGloveInfo;
class USGSenseGlovePose;

/**
 * Represents a pose of a Sense Glove exoskeleton.
 */
UCLASS(meta=(ScriptName = "SesneGloveSenseGlovePoseKismetLibrary"))
class SENSEGLOVECOREKISMET_API USGSenseGlovePoseKismetLibrary final : public USGBlueprintFunctionLibrary
{
    GENERATED_BODY()

public:
    /**
     * The basic constructor.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove Pose",
        meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* MakeSenseGlovePose(UObject* WorldContextObject);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Make Sense Glove Pose",
        Category="SenseGlove | Core | SG | Sense Glove Pose", meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* MakeSenseGlovePose_bRH_JP_TArrayFSGQuatArray_JR_GA(
        UObject* WorldContextObject, bool bRightHanded,
        const TArray<FSGVectorArray>& JointPositions,
        const TArray<FSGQuatArray>& JointRotations,
        const TArray<FSGVectorArray>& GloveAngles);

    /**
     * Creates a new instance of a SenseGlovePose.
     */
    UFUNCTION(BlueprintCallable, DisplayName="Make Sense Glove Pose",
        Category="SenseGlove | Core | SG | Sense Glove Pose", meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* MakeSenseGlovePose_bRH_JP_TArrayFSGRotatorArray_JR_GA(
        UObject* WorldContextObject, bool bRightHanded,
        const TArray<FSGVectorArray>& JointPositions,
        const TArray<FSGRotatorArray>& JointRotations,
        const TArray<FSGVectorArray>& GloveAngles);

    /**
     * Returns an idle pose for the Sense Glove if no data can be found.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove Pose",
        meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* IdlePose(UObject* WorldContextObject, const USGSenseGloveInfo* GloveInfo);

    /**
     * Deserialize a GlovePose back into usable values.
     */
    UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | SG | Sense Glove Pose",
        meta=(WorldContext="WorldContextObject"))
    static USGSenseGlovePose* Deserialize(UObject* WorldContextObject, const FString& SerializedString);

    /**
     * Whether this Glove Pose was created for be a right- or left hand, or not.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static bool IsRight(const USGSenseGlovePose* SenseGlovePose);

    /**
     * Positions of each glove joint, relative to the Glove's Origin.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGVectorArray> GetJointPositions(const USGSenseGlovePose* SenseGlovePose);

    /**
     * Quaternion rotation of each glove joint, relative to the Glove Origin.
     */
    UFUNCTION(BlueprintPure, DisplayName="Get Joint Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGQuatArray> GetJointRotations_TArrayFSGQuatArray(const USGSenseGlovePose* SenseGlovePose);

    /**
     * Rotation of each glove joint, relative to the Glove Origin.
     */
    UFUNCTION(BlueprintPure, DisplayName="Get Joint Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGRotatorArray> GetJointRotations_TArrayFSGRotatorArray(const USGSenseGlovePose* SenseGlovePose);

    /**
     * Glove joint angles in euler notation, relative to the last segment.
     *
     * @remarks Essentially sensor angles, though placed in their proper xyz notation.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FSGVectorArray> GetGloveAngles(const USGSenseGlovePose* SenseGlovePose);

    /**
     * The position of the tip of the 'thimbles', the furthest link on each glove link.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> GetThimblePositions(const USGSenseGlovePose* SenseGlovePose);

    /**
     * The (quaternion) rotation of the 'thimbles', the furthest link on each link.
     */
    UFUNCTION(BlueprintPure, DisplayName="Get Thimble Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FQuat> GetThimbleRotations_FQuat(const USGSenseGlovePose* SenseGlovePose);

    /**
     * The rotation of the 'thimbles', the furthest link on each link.
     */
    UFUNCTION(BlueprintPure, DisplayName="Get Thimble Rotations", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FRotator> GetThimbleRotations_FRotator(const USGSenseGlovePose* SenseGlovePose);

    /**
     * Sum of the Sensor angles in each (xyz) direction. "Total Pronation / Flexion / Abduction".
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> GetTotalGloveAngles(const USGSenseGlovePose* SenseGlovePose);

    /**
     * Calculate fingertip positions based on a user profile.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> CalculateFingerTips_SenseGloveHandProfileImpl(
        const USGSenseGlovePose* SenseGlovePose,
        const USGSenseGloveHandProfile* SenseGloveHandProfile);

    /**
     * Calculate fingertip positions, knowing the offset between thimble and fingertips.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static TArray<FVector> CalculateFingerTips_FingerOffsets(const USGSenseGlovePose* SenseGlovePose,
                                                             const TArray<FVector>& FingerOffsets);

    /**
     * Returns true if this glove pose equals another.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static bool Equals(const USGSenseGlovePose* A, const USGSenseGlovePose* B);

    /**
     * Returns a user-friendly string representation of this GlovePose for reporting.
     */
    UFUNCTION(BlueprintPure, Category="SenseGlove | Core | SG | Sense Glove Pose")
    static FString ToString(const USGSenseGlovePose* SenseGlovePose, bool bShortFormat = false);

    /**
     * Serialize this GlovePose into a string representation.
     */
    UFUNCTION(BlueprintPure, DisplayName="Serialize", Category="SenseGlove | Core | SG | Sense Glove Pose")
    static FString SGSerialize(const USGSenseGlovePose* SenseGlovePose);
};