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

/**
 * @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
 *
 *
 */


#include "SGCore/SGHandPose.h"

#include "Runtime/Launch/Resources/Version.h"
#include "SGCore/SGRotatorArray.h"

#include "SGCore/SGBasicHandModel.h"
#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGCoreImpl/SGHandPoseImpl.h"
#include "SGInterop/SGIC_ESGFinger.h"
#include "SGInterop/SGIC_FSGBasicHandModelImpl.h"
#include "SGInterop/SGIC_FSGHandPoseImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_TArray_float.h"
#include "SGInterop/SGIC_TArray_TArray_FQuat.h"
#include "SGInterop/SGIC_TArray_TArray_FVector.h"

struct USGHandPose::FImpl
{
    /************************
     * Member variables
     ************************/

    FSGHandPoseImpl HandPoseImpl;

    /************************
     * Owner object
     ************************/

    USGHandPose* Owner;

    /************************
     * Constructor / Destructor
     ************************/

    explicit FImpl(USGHandPose* InOwner);
    ~FImpl();

    /************************
     * Default copy constructor & copy assignment operator
     ************************/

    FImpl(const FImpl& Rhs) = default;
    FImpl& operator=(const FImpl& Rhs) = default;

    /************************
     * Methods
     ************************/

    void SyncUProperties();
    void SyncImplObject();
};

USGHandPose* USGHandPose::NewHandPose(UObject* Outer, const FSGHandPoseImpl& HandPoseImpl)
{
    USGHandPose* Instance = NewObject<USGHandPose>(Outer);
    Instance->SetHandPoseImpl(HandPoseImpl);
    return Instance;
}

USGHandPose* USGHandPose::NewHandPose(UObject* Outer)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    SGCoreImpl_FSGHandPoseImpl_ctor(&OutHandPoseImplContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::NewHandPose(
    UObject* Outer,
    const bool bRightHanded, const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FQuat>>& JointRotations,
    const TArray<TArray<FVector>>& HandAngles)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{JointPositions};
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{JointRotations};
    FSGIC_TArray_TArray_FVector HandAnglesContainer{HandAngles};
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::NewHandPose(
    UObject* Outer,
    const bool bRightHanded,
    const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FRotator>>& JointRotations,
    const TArray<TArray<FVector>>& HandAngles)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{JointPositions};
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{FSGArrayUtils::RotatorsToQuats(JointRotations)};
    FSGIC_TArray_TArray_FVector HandAnglesContainer{HandAngles};
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::NewHandPose(
    UObject* Outer,
    const bool bRightHanded, const TArray<FSGVectorArray>& JointPositions, const TArray<FSGQuatArray>& JointRotations,
    const TArray<FSGVectorArray>& HandAngles)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(JointPositions)
    };
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{
        FSGArrayUtils::FromNestedBPArray<FQuat, FSGQuatArray, &FSGQuatArray::QuatArray>(JointRotations)
    };
    FSGIC_TArray_TArray_FVector HandAnglesContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(HandAngles)
    };
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::NewHandPose(
    UObject* Outer,
    const bool bRightHanded,
    const TArray<FSGVectorArray>& JointPositions, const TArray<FSGRotatorArray>& JointRotations,
    const TArray<FSGVectorArray>& HandAngles)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(JointPositions)
    };
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{
        FSGArrayUtils::RotatorsToQuats<FSGRotatorArray, &FSGRotatorArray::RotatorArray>(JointRotations)
    };
    FSGIC_TArray_TArray_FVector HandAnglesContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(HandAngles)
    };
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::Deserialize(UObject* Outer, const FString& SerializedString)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_FString SerializedStringContainer{SerializedString};
    SGCoreImpl_FSGHandPoseImpl_Deserialize(&OutHandPoseImplContainer, &SerializedStringContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::FromHandAngles(UObject* Outer,
                                         const TArray<TArray<FVector>>& HandAngles, const bool bRightHanded,
                                         const USGBasicHandModel* HandDimensions)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector HandAnglesContainer{HandAngles};
    FSGIC_FSGBasicHandModelImpl HandDimensionsContainer{HandDimensions->ToBasicHandModelImpl()};
    SGCoreImpl_FSGHandPoseImpl_FromHandAngles_HandAngles_bRightHanded_HandDimensions(
        &OutHandPoseImplContainer, &HandAnglesContainer, bRightHanded, &HandAnglesContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::FromHandAngles(UObject* Outer,
                                         const TArray<TArray<FVector>>& HandAngles, const bool bRightHanded)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector HandAnglesContainer{HandAngles};
    SGCoreImpl_FSGHandPoseImpl_FromHandAngles_HandAngles_bRightHanded(
        &OutHandPoseImplContainer, &HandAnglesContainer, bRightHanded);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::DefaultIdle(UObject* Outer, const bool bRightHanded, const USGBasicHandModel* HandDimensions)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_FSGBasicHandModelImpl HandDimensionsContainer{HandDimensions->ToBasicHandModelImpl()};
    SGCoreImpl_FSGHandPoseImpl_DefaultIdle_bRightHanded_HandDimensions(
        &OutHandPoseImplContainer, bRightHanded, &HandDimensionsContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::DefaultIdle(UObject* Outer, const bool bRightHanded)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    SGCoreImpl_FSGHandPoseImpl_DefaultIdle_bRightHanded(&OutHandPoseImplContainer, bRightHanded);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::FlatHand(UObject* Outer, const bool bRightHanded, const USGBasicHandModel* HandDimensions)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_FSGBasicHandModelImpl HandDimensionsContainer{HandDimensions->ToBasicHandModelImpl()};
    SGCoreImpl_FSGHandPoseImpl_FlatHand_bRightHanded_HandDimensions(
        &OutHandPoseImplContainer, bRightHanded, &HandDimensionsContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::FlatHand(UObject* Outer, const bool bRightHanded)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    SGCoreImpl_FSGHandPoseImpl_FlatHand_bRightHanded(&OutHandPoseImplContainer, bRightHanded);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::ThumbsUp(UObject* Outer, const bool bRightHanded, const USGBasicHandModel* HandDimensions)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_FSGBasicHandModelImpl HandDimensionsContainer{HandDimensions->ToBasicHandModelImpl()};
    SGCoreImpl_FSGHandPoseImpl_ThumbsUp_bRightHanded_HandDimensions(
        &OutHandPoseImplContainer, bRightHanded, &HandDimensionsContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::ThumbsUp(UObject* Outer, const bool bRightHanded)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    SGCoreImpl_FSGHandPoseImpl_ThumbsUp_bRightHanded(&OutHandPoseImplContainer, bRightHanded);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::Fist(UObject* Outer, const bool bRightHanded, const USGBasicHandModel* HandDimensions)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_FSGBasicHandModelImpl HandDimensionsContainer{HandDimensions->ToBasicHandModelImpl()};
    SGCoreImpl_FSGHandPoseImpl_Fist_bRightHanded_HandDimensions(
        &OutHandPoseImplContainer, bRightHanded, &HandDimensionsContainer);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose* USGHandPose::Fist(UObject* Outer, const bool bRightHanded)
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    SGCoreImpl_FSGHandPoseImpl_Fist_bRightHanded(&OutHandPoseImplContainer, bRightHanded);

    return NewHandPose(Outer, MoveTemp(OutHandPoseImplContainer.HandPoseImpl));
}

USGHandPose::USGHandPose()
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    SGCoreImpl_FSGHandPoseImpl_ctor(&OutHandPoseImplContainer);

    Pimpl->HandPoseImpl = MoveTemp(OutHandPoseImplContainer.HandPoseImpl);
    Pimpl->SyncUProperties();
}

USGHandPose::USGHandPose(const bool bRightHanded,
                         const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FQuat>>& JointRotations,
                         const TArray<TArray<FVector>>& HandAngles)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{JointPositions};
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{JointRotations};
    FSGIC_TArray_TArray_FVector HandAnglesContainer{HandAngles};
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    Pimpl->HandPoseImpl = MoveTemp(OutHandPoseImplContainer.HandPoseImpl);
    Pimpl->SyncUProperties();
}

USGHandPose::USGHandPose(const bool bRightHanded,
                         const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FRotator>>& JointRotations,
                         const TArray<TArray<FVector>>& HandAngles)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{JointPositions};
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{FSGArrayUtils::RotatorsToQuats(JointRotations)};
    FSGIC_TArray_TArray_FVector HandAnglesContainer{HandAngles};
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    Pimpl->HandPoseImpl = MoveTemp(OutHandPoseImplContainer.HandPoseImpl);
    Pimpl->SyncUProperties();
}

USGHandPose::USGHandPose(const bool bRightHanded, const
                         TArray<FSGVectorArray>& JointPositions, const TArray<FSGQuatArray>& JointRotations,
                         const TArray<FSGVectorArray>& HandAngles)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(JointPositions)
    };
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{
        FSGArrayUtils::FromNestedBPArray<FQuat, FSGQuatArray, &FSGQuatArray::QuatArray>(JointRotations)
    };
    FSGIC_TArray_TArray_FVector HandAnglesContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(HandAngles)
    };
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    Pimpl->HandPoseImpl = MoveTemp(OutHandPoseImplContainer.HandPoseImpl);
    Pimpl->SyncUProperties();
}

USGHandPose::USGHandPose(const bool bRightHanded,
                         const TArray<FSGVectorArray>& JointPositions, const TArray<FSGRotatorArray>& JointRotations,
                         const TArray<FSGVectorArray>& HandAngles)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    FSGIC_FSGHandPoseImpl OutHandPoseImplContainer;
    FSGIC_TArray_TArray_FVector JointPositionsContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(JointPositions)
    };
    FSGIC_TArray_TArray_FQuat JointRotationsContainer{
        FSGArrayUtils::RotatorsToQuats<FSGRotatorArray, &FSGRotatorArray::RotatorArray>(JointRotations)
    };
    FSGIC_TArray_TArray_FVector HandAnglesContainer{
        FSGArrayUtils::FromNestedBPArray<FVector, FSGVectorArray, &FSGVectorArray::VectorArray>(HandAngles)
    };
    SGCoreImpl_FSGHandPoseImpl_ctor_bRightHanded_JointPositions_JointRotations_HandAngles(
        &OutHandPoseImplContainer, bRightHanded, &JointPositionsContainer,
        &JointRotationsContainer, &HandAnglesContainer);

    Pimpl->HandPoseImpl = MoveTemp(OutHandPoseImplContainer.HandPoseImpl);
    Pimpl->SyncUProperties();
}

USGHandPose::USGHandPose(const FSGHandPoseImpl& HandPoseImpl)
    :
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 )
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
#else
    Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 ) */
{
    SetHandPoseImpl(HandPoseImpl);
    Pimpl->SyncUProperties();
}

USGHandPose::~USGHandPose() = default;

void USGHandPose::SetHandPoseImpl(const FSGHandPoseImpl& HandPoseImpl)
{
    FSGIC_FSGHandPoseImpl OutHandPoseContainer;
    FSGIC_FSGHandPoseImpl RhsContainer{HandPoseImpl};
    SGCoreImpl_FSGHandPoseImpl_ctor_copy(&OutHandPoseContainer, &RhsContainer);
    Pimpl->HandPoseImpl = MoveTemp(OutHandPoseContainer.HandPoseImpl);
}

const FSGHandPoseImpl& USGHandPose::ToHandPoseImpl() const
{
    Pimpl->SyncImplObject();
    return Pimpl->HandPoseImpl;
}

bool USGHandPose::IsRight() const
{
    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    return SGCoreImpl_FSGHandPoseImpl_IsRight(&InstanceContainer);
}

TArray<TArray<FVector>> USGHandPose::GetJointPositions() const
{
    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_TArray_TArray_FVector OutPositionsContainer;
    SGCoreImpl_FSGHandPoseImpl_GetJointPositions(&InstanceContainer, &OutPositionsContainer);
    return MoveTemp(OutPositionsContainer.Array);
}

TArray<TArray<FQuat>> USGHandPose::GetJointRotationsQ() const
{
    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_TArray_TArray_FQuat OutRotationsContainer;
    SGCoreImpl_FSGHandPoseImpl_GetJointRotations(&InstanceContainer, &OutRotationsContainer);
    return MoveTemp(OutRotationsContainer.Array);
}

TArray<TArray<FRotator>> USGHandPose::GetJointRotations() const
{
    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_TArray_TArray_FQuat OutRotationsContainer;
    SGCoreImpl_FSGHandPoseImpl_GetJointRotations(&InstanceContainer, &OutRotationsContainer);
    return FSGArrayUtils::QuatsToRotators(OutRotationsContainer.Array);
}

TArray<TArray<FVector>> USGHandPose::GetHandAngles() const
{
    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_TArray_TArray_FVector OutAnglesContainer;
    SGCoreImpl_FSGHandPoseImpl_GetHandAngles(&InstanceContainer, &OutAnglesContainer);
    return MoveTemp(OutAnglesContainer.Array);
}

bool USGHandPose::Equals(const USGHandPose* HandPose) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_FSGHandPoseImpl HandPoseContainer{HandPose->ToHandPoseImpl()};
    return SGCoreImpl_FSGHandPoseImpl_Equals(&InstanceContainer, &HandPoseContainer);
}

float USGHandPose::GetNormalizedFlexion(const ESGFinger Finger, const bool bClamp01) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    return SGCoreImpl_FSGHandPoseImpl_GetNormalizedFlexion_Finger_bClamp01(
        &InstanceContainer, &FingerContainer, bClamp01);
}

TArray<float> USGHandPose::GetNormalizedFlexion(const bool bClamp01) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_TArray_float OutFlexionContainer;
    SGCoreImpl_FSGHandPoseImpl_GetNormalizedFlexion_bClamp01(&InstanceContainer, &OutFlexionContainer, bClamp01);
    return MoveTemp(OutFlexionContainer.Array);
}

FString USGHandPose::ToString(const bool bShortFormat) const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_FString OutStringContainer;
    SGCoreImpl_FSGHandPoseImpl_ToString(&InstanceContainer, &OutStringContainer, bShortFormat);
    return MoveTemp(OutStringContainer.String);
}

FString USGHandPose::SGSerialize() const
{
    Pimpl->SyncImplObject();

    FSGIC_FSGHandPoseImpl InstanceContainer{ToHandPoseImpl()};
    FSGIC_FString OutStringContainer;
    SGCoreImpl_FSGHandPoseImpl_Serialize(&InstanceContainer, &OutStringContainer);
    return MoveTemp(OutStringContainer.String);
}

USGHandPose::FImpl::FImpl(USGHandPose* InOwner)
    : Owner(InOwner)
{
}

USGHandPose::FImpl::~FImpl() = default;

void USGHandPose::FImplDeleter::operator()(const FImpl* P) const
{
    delete P;
}

void USGHandPose::FImpl::SyncUProperties()
{
}

void USGHandPose::FImpl::SyncImplObject()
{
}