160 lines
4.3 KiB
C++
160 lines
4.3 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 - 2023 SenseGlove
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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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*
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*/
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#pragma once
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#include "Containers/UnrealString.h"
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#include "Templates/UniquePtr.h"
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#include "SGCoreImpl/SGPlatform.h"
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#include "SGTypes/SGCoreTypes.h"
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class FSGHandInterpolatorImpl;
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namespace SGCore
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{
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class HandPose;
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}
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class FSGBasicHandModelImpl;
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class SENSEGLOVECOREIMPL_API FSGHandPoseImpl final
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{
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public:
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typedef SGCore::HandPose FHandPoseType;
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public:
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static FSGHandPoseImpl Deserialize(const FString& SerializedString);
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static FSGHandPoseImpl FromHandAngles(const TArray<TArray<FVector>>& HandAngles, bool bRightHanded,
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const FSGBasicHandModelImpl& HandDimensions);
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static FSGHandPoseImpl FromHandAngles(const TArray<TArray<FVector>>& HandAngles, bool bRightHanded);
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static FSGHandPoseImpl DefaultIdle(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);
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static FSGHandPoseImpl DefaultIdle(bool bRightHanded);
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static FSGHandPoseImpl FlatHand(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);
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static FSGHandPoseImpl FlatHand(bool bRightHanded);
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static FSGHandPoseImpl ThumbsUp(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);
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static FSGHandPoseImpl ThumbsUp(bool bRightHanded);
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static FSGHandPoseImpl Fist(bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions);
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static FSGHandPoseImpl Fist(bool bRightHanded);
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private:
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struct FImpl;
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struct FImplDeleter
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{
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void operator()(const FImpl* P) const;
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};
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TUniquePtr<FImpl, FImplDeleter> Pimpl;
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FImplDeleter PimplDeleter;
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public:
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FSGHandPoseImpl();
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FSGHandPoseImpl(bool bRightHanded, const TArray<TArray<FVector>>& JointPositions,
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const TArray<TArray<FQuat>>& JointRotations,
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const TArray<TArray<FVector>>& HandAngles);
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public:
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/**
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* The cast from underlying type constructor.
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*/
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explicit FSGHandPoseImpl(const FHandPoseType& SenseGloveHandPose);
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public:
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/**
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* The copy constructor.
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*/
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FSGHandPoseImpl(const FSGHandPoseImpl& Rhs);
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/**
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* The move constructor.
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*/
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FSGHandPoseImpl(FSGHandPoseImpl&& Rhs) SG_NOEXCEPT;
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public:
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/**
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* The destructor.
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*/
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virtual ~FSGHandPoseImpl();
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public:
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/**
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* The copy assignment operator.
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*/
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FSGHandPoseImpl& operator=(const FSGHandPoseImpl& Rhs);
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/**
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* The move assignment operator.
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*/
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FSGHandPoseImpl& operator=(FSGHandPoseImpl&& Rhs) SG_NOEXCEPT;
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public:
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/**
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* The cast to underlying type method.
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*/
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const FHandPoseType& ToHandPose() const;
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public:
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bool IsRight() const;
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TArray<TArray<FVector>> GetJointPositions() const;
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TArray<TArray<FQuat>> GetJointRotations() const;
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TArray<TArray<FVector>> GetHandAngles() const;
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public:
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bool Equals(const FSGHandPoseImpl& HandPoseImpl) const;
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float GetNormalizedFlexion(ESGFinger Finger, bool bClamp01 = true) const;
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TArray<float> GetNormalizedFlexion(bool bClamp01 = true) const;
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public:
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FString ToString(bool bShortFormat = false) const;
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FString Serialize() const;
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}; |