Plugin/Source/SenseGloveCore/Private/SGCore/SGHandLayer.cpp

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2026 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
 *
 *
 */


#include "SGCore/SGHandLayer.h"

#include "SGCore/SGCustomWaveform.h"
#include "SGCore/SGHandPose.h"
#include "SGCore/SGHapticGlove.h"
#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGInterop/SGIC_ESGDeviceType.h"
#include "SGInterop/SGIC_ESGHapticGloveCalibrationState.h"
#include "SGInterop/SGIC_ESGHapticLocation.h"
#include "SGInterop/SGIC_ESGPositionalTrackingHardware.h"
#include "SGInterop/SGIC_FQuat.h"
#include "SGInterop/SGIC_FSGCustomWaveformImpl.h"
#include "SGInterop/SGIC_FSGHandPoseImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_FVector.h"
#include "SGInterop/SGIC_TArray_float.h"
#include "SGInterop/SGIC_TSharedPtr_FSGHapticGloveImpl.h"

bool FSGHandLayer::DeviceConnected(const bool bRightHanded)
{
    return SGCoreImpl_FSGHandLayerImpl_DeviceConnected(bRightHanded);
}

ESGDeviceType FSGHandLayer::GetDeviceType(const bool bRightHanded)
{
    FSGIC_ESGDeviceType DeviceTypeContainer;
    SGCoreImpl_FSGHandLayerImpl_GetDeviceType(&DeviceTypeContainer, bRightHanded);
    return DeviceTypeContainer.Type;
}

bool FSGHandLayer::GetFirstGloveHandedness()
{
    return SGCoreImpl_FSGHandLayerImpl_GetFirstGloveHandedness();
}

int32 FSGHandLayer::GlovesConnected()
{
    return SGCoreImpl_FSGHandLayerImpl_GlovesConnected();
}

bool FSGHandLayer::GetGloveInstance(UObject* Outer, const bool bRightHanded, USGHapticGlove*& OutGlove)
{
    FSGIC_TSharedPtr_FSGHapticGloveImpl OutGloveContainer;
    const bool bResult = SGCoreImpl_FSGHandLayerImpl_GetGloveInstance(bRightHanded, &OutGloveContainer);
    OutGlove = USGHapticGlove::NewHapticGlove(Outer, OutGloveContainer.Ptr.ToSharedRef());
    return bResult;
}

ESGHapticGloveCalibrationState FSGHandLayer::GetCalibrationState(const bool bRightHanded)
{
    FSGIC_ESGHapticGloveCalibrationState HapticGloveCalibrationStateContainer;
    SGCoreImpl_FSGHandLayerImpl_GetDeviceType(&HapticGloveCalibrationStateContainer, bRightHanded);
    return HapticGloveCalibrationStateContainer.State;
}

FString FSGHandLayer::GetCalibrationInstructions(const bool bRightHanded)
{
    FSGIC_FString CalibrationInstructionsContainer;
    SGCoreImpl_FSGHandLayerImpl_GetCalibrationInstructions(&CalibrationInstructionsContainer, bRightHanded);
    return CalibrationInstructionsContainer.String;
}

void FSGHandLayer::ResetCalibration(const bool bRightHanded)
{
    SGCoreImpl_FSGHandLayerImpl_ResetCalibration(bRightHanded);
}

void FSGHandLayer::EndCalibration(const bool bRightHanded)
{
    SGCoreImpl_FSGHandLayerImpl_EndCalibration(bRightHanded);
}

bool FSGHandLayer::GetHandPose(UObject* Outer, const bool bRightHanded, USGHandPose*& OutHandPose)
{
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHandLayerImpl_GetHandPose(bRightHanded, &OutHandPoseContainer);
    OutHandPose = USGHandPose::NewHandPose(Outer, OutHandPose->ToHandPoseImpl());
    return bResult;
}

void FSGHandLayer::GetWristLocation(
    const bool bRightHanded, const FVector& ReferencePosition, const FQuat& ReferenceRotation,
    const ESGPositionalTrackingHardware TrackingHardware, FVector& OutWristPosition, FQuat& OutWristRotation)
{
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;

    SGCoreImpl_FSGHandLayerImpl_GetWristLocation(
        bRightHanded, &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutWristPositionContainer, &OutWristRotationContainer);

    OutWristPosition = MoveTemp(OutWristPositionContainer.Vector);
    OutWristRotation = MoveTemp(OutWristRotationContainer.Quat);
}

void FSGHandLayer::GetWristLocation(
    const bool bRightHanded, const FVector& ReferencePosition, const FRotator& ReferenceRotation,
    ESGPositionalTrackingHardware TrackingHardware, FVector& OutWristPosition, FRotator& OutWristRotation)
{
    FSGIC_FVector ReferencePositionContainer{ReferencePosition};
    FSGIC_FQuat ReferenceRotationContainer{ReferenceRotation.Quaternion()};
    FSGIC_ESGPositionalTrackingHardware TrackingHardwareContainer{TrackingHardware};
    FSGIC_FVector OutWristPositionContainer;
    FSGIC_FQuat OutWristRotationContainer;

    SGCoreImpl_FSGHandLayerImpl_GetWristLocation(
        bRightHanded, &ReferencePositionContainer, &ReferenceRotationContainer,
        &TrackingHardwareContainer,
        &OutWristPositionContainer, &OutWristRotationContainer);

    OutWristPosition = MoveTemp(OutWristPositionContainer.Vector);
    OutWristRotation = OutWristRotationContainer.Quat.Rotator();
}

void FSGHandLayer::StopAllHaptics(const bool bRightHanded)
{
    SGCoreImpl_FSGHandLayerImpl_StopAllHaptics(bRightHanded);
}

bool FSGHandLayer::SendHaptics(const bool bRightHanded)
{
    return SGCoreImpl_FSGHandLayerImpl_SendHaptics(bRightHanded);
}

bool FSGHandLayer::SupportsCustomWaveform(
    const bool bRightHanded, const ESGHapticLocation AtLocation)
{
    FSGIC_ESGHapticLocation AtLocationContainer{AtLocation};
    return SGCoreImpl_FSGHandLayerImpl_SupportsCustomWaveform(bRightHanded, &AtLocationContainer);
}

bool FSGHandLayer::SendCustomWaveform(
    const bool bRightHanded, USGCustomWaveform* OutWaveform, const ESGHapticLocation Location)
{
    FSGIC_FSGCustomWaveformImpl OutWaveformContainer{OutWaveform->ToCustomWaveformImpl()};
    FSGIC_ESGHapticLocation LocationContainer{Location};
    return SGCoreImpl_FSGHandLayerImpl_SendCustomWaveform(bRightHanded, &OutWaveformContainer, &LocationContainer);
}

bool FSGHandLayer::QueueCommand_ForceFeedbackLevel(
    const bool bRightHanded, const int32 Finger, const float Level01, const bool bSendImmediate)
{
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_ForceFeedbackLevel(bRightHanded, Finger, Level01, bSendImmediate);
}

bool FSGHandLayer::QueueCommand_ForceFeedbackLevels(
    const bool bRightHanded, const TArray<float>& Levels01, const bool bSendImmediate)
{
    FSGIC_TArray_float Levels01Container{Levels01};
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_ForceFeedbackLevels(
        bRightHanded, &Levels01Container, bSendImmediate);
}

bool FSGHandLayer::QueueCommand_VibroLevels(
    const bool bRightHanded, const TArray<float>& Levels01, const bool bSendImmediate)
{
    FSGIC_TArray_float Levels01Container{Levels01};
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_VibroLevels(bRightHanded, &Levels01Container, bSendImmediate);
}

bool FSGHandLayer::QueueCommand_VibroLevel(
    const bool bRightHanded, const int32 Finger, const float Level01, const bool bSendImmediate)
{
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_VibroLevel_bRightHanded_Finger_Level0_bSendImmediate(
        bRightHanded, Finger, Level01, bSendImmediate);
}

bool FSGHandLayer::QueueCommand_VibroLevel(
    const bool bRightHanded, const ESGHapticLocation AtLocation, const float Level01, const bool bSendImmediate)
{
    FSGIC_ESGHapticLocation AtLocationContainer{AtLocation};
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_VibroLevel_bRightHanded_AtLocation_Level01_bSendImmediate(
        bRightHanded, &AtLocationContainer, Level01, bSendImmediate);
}

bool FSGHandLayer::SupportsWristSqueeze(const bool bRightHanded)
{
    return SGCoreImpl_FSGHandLayerImpl_SupportsWristSqueeze(bRightHanded);
}

bool FSGHandLayer::QueueCommand_WristSqueeze(
    const bool bRightHanded, const float SqueezeLevel01, const bool bSendImmediate)
{
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_WristSqueeze(bRightHanded, SqueezeLevel01, bSendImmediate);
}

bool FSGHandLayer::SupportsFlexionLocks(const bool bRightHanded)
{
    return SGCoreImpl_FSGHandLayerImpl_SupportsFlexionLocks(bRightHanded);
}

bool FSGHandLayer::QueueCommand_FlexionLock(
    const bool bRightHanded, const int32 Finger, const float Flexion01, const bool bSendImmediate)
{
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_FlexionLock(bRightHanded, Finger, Flexion01, bSendImmediate);
}

bool FSGHandLayer::QueueCommand_ClearFlexionLock(
    const bool bRightHanded, const int32 Finger, const bool bSendImmediate)
{
    return SGCoreImpl_FSGHandLayerImpl_QueueCommand_ClearFlexionLock(bRightHanded, Finger, bSendImmediate);
}