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

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2025 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/Quat.h"
#include "Math/Vector.h"
#include "Templates/UniquePtr.h"

#include "SGBuildHacks/SGPlatform.h"
#include "SGTypes/SGCoreTypes.h"

namespace SGCore
{
    namespace Kinematics
    {
        class BasicHandModel;
    }
}

class SENSEGLOVECOREIMPL_API FSGBasicHandModelImpl final
{
public:
    typedef SGCore::Kinematics::BasicHandModel FBasicHandModelType;

public:
    static FSGBasicHandModelImpl Default(bool bRightHanded);

    static FSGBasicHandModelImpl Deserialize(const FString& SerializedString);

public:
    static const TArray<TArray<float>>& GetBaseFingerLengths();

    static const TArray<FVector>& GetBaseJointPositions();

    static const TArray<FVector>& GetBaseJointAngles();

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGBasicHandModelImpl();

    FSGBasicHandModelImpl(bool bRightHanded, const TArray<TArray<float>>& Lengths,
                   const TArray<FVector>& StartPositions);

    FSGBasicHandModelImpl(bool bRightHanded, const TArray<TArray<float>>& Lengths,
                   const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGBasicHandModelImpl(const FBasicHandModelType& BasicHandModel);

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

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

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

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

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

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

public:
    bool IsRight() const;

public:
    TArray<TArray<float>> GetFingerLengths() const;

    TArray<float> GetFingerLengths(ESGFinger Finger) const;

    void SetFingerLengths(ESGFinger Finger, const TArray<float>& Lengths);
    void SetFingerLengths(uint8 Finger, const TArray<float>& Lengths);

    TArray<TArray<float>> GetFingerRatios() const;

public:
    TArray<float> GetFingerRatios(ESGFinger Finger) const;

    TArray<FVector> GetStartJointPositions() const;

    void SetStartJointPosition(ESGFinger Finger, const FVector& Position);
    void SetStartJointPosition(uint8 Finger, const FVector& Position);

    TArray<FQuat> GetStartJointRotations() const;

    FVector GetJointPosition(ESGFinger Finger) const;

    void SetJointPosition(const FVector& NewPosition, ESGFinger Finger);

    FQuat GetJointRotation(ESGFinger Finger) const;

    void SetJointRotation(const FQuat& NewRotation, ESGFinger Finger);

    TArray<float> GetTotalLengths() const;

    float GetTotalLength(ESGFinger Finger) const;

public:
    TArray<FVector> Get3DLengths(ESGFinger Finger) const;

public:
    bool Equals(const FSGBasicHandModelImpl& BasicHandModelImpl) const;

public:
    FString ToString() const;

    FString ToString(bool bLengthsOnly) const;

    FString Serialize() const;
};