Plugin/Source/SenseGloveCoreImpl/Public/SGCoreImpl/SGHapticGloveImpl.h

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2023 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
 *
 *
 */

#pragma once

#include <memory>
#include <vector>

#include "Containers/Array.h"
#include "Math/Quat.h"
#include "Math/Vector.h"
#include "Runtime/Launch/Resources/Version.h"
#include "Templates/SharedPointer.h"
#include "Templates/UniquePtr.h"

#include "SGCoreImpl/SGDeviceImpl.h"
#include "SGCoreImpl/SGPlatform.h"
#include "SGTypes/SGCoreTypes.h"

namespace SGCore
{
    class HapticGlove;
}

class FSGBasicHandModelImpl;
class FSGBuzzCommandImpl;
class FSGForceFeedbackCommandImpl;
class FSGHandPoseImpl;
class FSGHandProfileImpl;
class FSGThumperCommandImpl;

class SENSEGLOVECOREIMPL_API FSGHapticGloveImpl : public FSGDeviceImpl
{
#if ENGINE_MAJOR_VERSION >= 5
    friend class SharedPointerInternals::TIntrusiveReferenceController<FSGHapticGloveImpl, ESPMode::ThreadSafe>;
#else
    friend class SharedPointerInternals::TIntrusiveReferenceController<FSGHapticGloveImpl>;
#endif  /* ENGINE_MAJOR_VERSION >= 5 */

public:
    typedef SGCore::HapticGlove FHapticGloveType;

public:
    typedef std::shared_ptr<FHapticGloveType> FHapticGlovePtrType;
    typedef std::vector<FHapticGlovePtrType> FHapticGlovePtrVectorType;

public:
    static TArray<TSharedRef<FSGHapticGloveImpl>> GetHapticGloves();

    static bool GetGlove(TSharedPtr<FSGHapticGloveImpl>& OutGlove);

    static bool GetGlove(bool bRightHanded, TSharedPtr<FSGHapticGloveImpl>& OutGlove);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGHapticGloveImpl();

public:
    /**
     * The cast from underlying pointer type constructor.
     */
    explicit FSGHapticGloveImpl(const FHapticGlovePtrType HapticGlove);

public:
    /**
     * The copy constructor.
     */
    FSGHapticGloveImpl(const FSGHapticGloveImpl& Rhs);

    /**
     * The move constructor.
     */
    FSGHapticGloveImpl(FSGHapticGloveImpl&& Rhs) SG_NOEXCEPT;

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

public:
    /**
     * The copy assignment operator.
     */
    FSGHapticGloveImpl& operator=(const FSGHapticGloveImpl& Rhs);

    /**
     * The move assignment operator.
     */
    FSGHapticGloveImpl& operator=(FSGHapticGloveImpl&& Rhs) SG_NOEXCEPT;

public:
    /**
     * The cast to underlying pointer type method.
     */
    FHapticGlovePtrType ToHapticGlovePtr() const;

    /**
     * The checked cast to underlying pointer type method.
     */
    FHapticGlovePtrType ToHapticGlovePtrChecked() const;

public:
    virtual ESGDeviceType GetDeviceType() const override;
    virtual FString GetDeviceId() const override;

    virtual FString GetHardwareVersion() const override;
    virtual int32 GetFirmwareVersion() const override;
    virtual int32 GetSubFirmwareVersion() const override;

    virtual bool IsRight() const;

    virtual bool GetImuRotation(FQuat& OutImu);

    virtual bool GetHandPose(const FSGBasicHandModelImpl& HandGeometry, const FSGHandProfileImpl& HandProfile,
        FSGHandPoseImpl& OutHandPose);

    virtual bool GetHandPose(const FSGHandProfileImpl& HandProfile, FSGHandPoseImpl& OutHandPose);

    virtual bool GetHandPose(const FSGBasicHandModelImpl& HandGeometry, FSGHandPoseImpl& OutHandPose);

    virtual bool GetHandPose(FSGHandPoseImpl& OutHandPose);

#if PLATFORM_ANDROID
    virtual bool GetHandPose(float DeltaTime, FSGHandPoseImpl& OutHandPose);
#endif  /* PLATFORM_ANDROID */

public:
    virtual void StopHaptics();

    virtual void StopVibrations();

    virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand);

    virtual void SendHaptics(const FSGBuzzCommandImpl& BuzzCommand);

    virtual void SendHaptics(const FSGThumperCommandImpl& ThumperCommand);

    virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
                             const FSGBuzzCommandImpl& BuzzCommand);

    virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
                             const FSGBuzzCommandImpl& BuzzCommand,
                             const FSGThumperCommandImpl& ThumperCommand);

public:
    virtual bool GetCalibrationValues(TArray<FVector>& OutValues);

    virtual void ResetCalibrationRange();

    virtual void UpdateCalibrationRange();

    virtual void UpdateCalibrationRange(const TArray<FVector>& CalibrationValues);

    virtual void GetCalibrationRange(TArray<FVector>& OutMinValues,
                                     TArray<FVector>& OutMaxValues);

    virtual void UpdateCalibration(FSGHandProfileImpl& OutProfile);

    virtual void ApplyCalibration(FSGHandProfileImpl& OutProfile) const;

public:
    virtual void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                  ESGPositionalTrackingHardware TrackingHardware,
                                  FVector& OutWristPosition, FQuat& OutWristRotation) const;

    virtual void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                  ESGPositionalTrackingHardware TrackingHardware,
                                  FVector& OutGlovePosition, FQuat& OutGloveRotation) const;
};