Plugin/Source/SenseGloveCoreImpl/Public/SGCoreImpl/SGSenseGlovePoseImpl.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
 *
 *
 */


#pragma once

#include "Containers/UnrealString.h"
#include "Math/Vector.h"
#include "Runtime/Launch/Resources/Version.h"
#include "Templates/UniquePtr.h"

#include "SGCoreImpl/SGPlatform.h"

namespace SGCore
{
    namespace SG
    {
        class SenseGlovePose;
    }
}

class FSGSenseGloveHandProfileImpl;
class FSGSenseGloveInfoImpl;

class SENSEGLOVECOREIMPL_API FSGSenseGlovePoseImpl final
{
public:
    typedef SGCore::SG::SenseGlovePose FSenseGlovePoseType;

public:
    static FSGSenseGlovePoseImpl IdlePose(const FSGSenseGloveInfoImpl& GloveInfo);

    static FSGSenseGlovePoseImpl Deserialize(const FString& SerializedString);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGSenseGlovePoseImpl();

    FSGSenseGlovePoseImpl(bool bRightHanded,
                     const TArray<TArray<FVector>>& JointPositions,
                     const TArray<TArray<FQuat>>& JointRotations,
                     const TArray<TArray<FVector>>& GloveAngles);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGSenseGlovePoseImpl(const FSenseGlovePoseType& SenseGlovePose);

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

    /**
     * The move constructor.
     */
    FSGSenseGlovePoseImpl(FSGSenseGlovePoseImpl&& Rhs)
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
        noexcept
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
        ;

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

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

    /**
     * The move assignment operator.
     */
    FSGSenseGlovePoseImpl& operator=(FSGSenseGlovePoseImpl&& Rhs)
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
        noexcept
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
        ;

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

public:
    bool IsRight() const;
    void SetIsRight(bool bRightHanded) const;

    TArray<TArray<FVector>> GetJointPositions() const;
    void SetJointPositions(const TArray<TArray<FVector>>& JointPositions) const;

    TArray<TArray<FQuat>> GetJointRotations() const;
    void SetJointRotations(const TArray<TArray<FQuat>>& JointRotations) const;

    TArray<TArray<FVector>> GetGloveAngles() const;
    void SetGloveAngles(const TArray<TArray<FVector>>& GloveAngles) const;

public:
    TArray<FVector> GetThimblePositions() const;

    TArray<FQuat> GetThimbleRotations() const;

    TArray<FVector> GetTotalGloveAngles() const;

    TArray<FVector> CalculateFingerTips(const FSGSenseGloveHandProfileImpl& SenseGloveHandProfileImpl) const;

    TArray<FVector> CalculateFingerTips(const TArray<FVector>& FingerOffsets) const;

    bool Equals(const FSGSenseGlovePoseImpl& SenseGlovePoseImpl) const;

public:
    FString ToString(bool bShortFormat = true) const;

    FString Serialize() const;
};