351 lines
11 KiB
C++
351 lines
11 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 - 2022 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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* An interface for any of our gloves that can track hand motion and/or send
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* force / vibrotactile feedback.
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*/
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#pragma once
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#include "Containers/Array.h"
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#include "HAL/Platform.h"
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#include "Math/Quat.h"
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#include "Math/Vector.h"
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#include "SGCore/SGBasicHandModel.h"
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#include "SGCore/SGDevice.h"
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#include "SGCore/SGHandPose.h"
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#include "SGCore/SGHandProfile.h"
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#include "SGCore/SGThumperCommand.h"
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#include "SGTypes/SGCoreTypes.h"
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#include "SGHapticGlove.generated.h"
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class FSGHapticGloveImpl;
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class FSGNovaGloveImpl;
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class FSGSenseGloveImpl;
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class USGBuzzCommand;
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class USGForceFeedbackCommand;
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/**
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* A glove developed by SenseGlove, that has hand tracking and/or haptic feedback functionality.
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*/
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UCLASS(BlueprintType)
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class SENSEGLOVECORE_API USGHapticGlove : public USGDevice
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{
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GENERATED_BODY()
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private:
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friend class USGHapticGloveCalibrationSequence;
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protected:
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static USGHapticGlove* NewHapticGlove(UObject* Outer, const FSGHapticGloveImpl& HapticGloveImpl);
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static USGHapticGlove* NewHapticGlove(UObject* Outer, TSharedRef<FSGHapticGloveImpl> HapticGloveImpl);
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protected:
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/**
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*
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*/
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static USGHapticGlove* NewHapticGlove(UObject* Outer);
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public:
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/**
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* Get all Haptic Gloves detected on this system.
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*/
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static TArray<USGHapticGlove*> GetHapticGloves(UObject* Outer);
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/**
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* Get the first Haptic Glove detected on this system.
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*/
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static bool GetGlove(UObject* Outer, USGHapticGlove*& OutGlove);
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/**
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* Get the first left/right Haptic Glove detected on this system.
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*/
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static bool GetGlove(UObject* Outer, bool bRightHanded, USGHapticGlove*& OutGlove);
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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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protected:
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/**
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* The basic constructor.
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*/
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USGHapticGlove();
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public:
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/**
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* The cast from underlying parent type constructor.
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*/
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explicit USGHapticGlove(const FSGDeviceImpl& SGDeviceImpl);
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/**
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* The cast from underlying type constructor.
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*/
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explicit USGHapticGlove(const FSGHapticGloveImpl& HapticGloveImpl);
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/**
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* The cast from underlying child type constructor.
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*/
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explicit USGHapticGlove(const FSGNovaGloveImpl& NovaGloveImpl);
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/**
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* The cast from underlying child type constructor.
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*/
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explicit USGHapticGlove(const FSGSenseGloveImpl& SenseGloveImpl);
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protected:
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/**
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* The cast from underlying parent pointer type constructor.
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*/
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explicit USGHapticGlove(TSharedRef<FSGDeviceImpl> SGDeviceImpl);
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/**
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* The cast from underlying pointer type constructor.
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*/
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explicit USGHapticGlove(TSharedRef<FSGHapticGloveImpl> HapticGloveImpl);
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/**
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* The cast from underlying child pointer type constructor.
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*/
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explicit USGHapticGlove(TSharedRef<FSGNovaGloveImpl> NovaGloveImpl);
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/**
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* The cast from underlying child pointer type constructor.
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*/
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explicit USGHapticGlove(TSharedRef<FSGSenseGloveImpl> SenseGloveImpl);
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public:
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/**
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* The destructor.
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*/
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virtual ~USGHapticGlove() override;
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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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TSharedRef<FSGHapticGloveImpl> ToHapticGloveImpl() const;
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protected:
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/**
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* Allows the child classes to synchronize the parent's underlying object at any time.
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*/
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virtual void SyncImplObject() const override;
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/**
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* Allows the child classes to synchronize the parent's uproperties at any time.
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*/
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virtual void SyncUProperties() override;
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public:
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/**
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* Get the DeviceType enumerator of this device; used to check if its a SenseGlove/Nova/etc.
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*/
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virtual ESGDeviceType GetDeviceType() const override;
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/**
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* Retrieve this glove's unique identifier.
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*/
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virtual FString GetDeviceId() const override;
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/**
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* Retrieve this glove's hardware (sub) version. "DK1", "DK2", etc.
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*/
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virtual FString GetHardwareVersion() const override;
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/**
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* Retrieve this device's main firmware version. v4.12 returns 4.
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*/
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virtual int32 GetFirmwareVersion() const override;
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/**
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* Retrieve this device's sub firmware version. v4.12 returns 12.
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*/
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virtual int32 GetSubFirmwareVersion() const override;
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/**
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* Returns true if this glove is made for a right hand. If false, it's a left hand.
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*/
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virtual bool IsRight() const;
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/**
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* Retrieve this glove's IMU rotation, if if has any.
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*/
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virtual bool GetImuRotation(FQuat& OutImu);
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/**
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* Retrieve this glove's IMU rotation, if if has any.
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*/
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virtual bool GetImuRotation(FRotator& OutImu);
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/**
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* Calculate the Hand Pose of this device, provided it has Hand Tracking available
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*/
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virtual bool GetHandPose(
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UObject* Outer,
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const USGBasicHandModel* HandGeometry, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose);
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/**
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* Calculate the HandPose of this Device, taking into account user values, but not hand geometry.
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*/
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virtual bool GetHandPose(UObject* Outer, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose);
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/**
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* Retrieve a HandPose based on the latest profile, but with a specific hand geometry.
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*/
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virtual bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandGeometry, USGHandPose*& OutHandPose);
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/**
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* Retrieve a HandPose based on the latest profile and default hand Geometry.
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*/
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virtual bool GetHandPose(UObject* Outer, USGHandPose*& OutHandPose);
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public:
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/**
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* Stops all Haptic effects if any are currently playing. Useful at the end of simulations or when resetting.
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*/
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virtual void StopHaptics();
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/**
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* Send Haptic Commands to this Glove.
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*/
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virtual void StopVibrations();
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/**
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* Send Haptic Commands to this Glove.
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*/
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virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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virtual void SendHaptics(const USGBuzzCommand* BuzzCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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virtual void SendHaptics(const USGThumperCommand* ThumperCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
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const USGBuzzCommand* BuzzCommand);
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/**
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* Send Haptic Commands to this Glove.
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*/
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virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
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const USGBuzzCommand* BuzzCommand,
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const USGThumperCommand* ThumperCommand);
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public:
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/**
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* Retrieve calibration values of this glove, as an array of size 5, containing x (roll), y (flexion), z (abduction) values.
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*/
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virtual bool GetCalibrationValues(TArray<FVector>& OutValues);
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/**
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* Reset Calibration range for this Device.
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*/
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virtual void ResetCalibrationRange();
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/**
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* Updates calibration values only.
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*/
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virtual void UpdateCalibrationRange();
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/**
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* Updates calibration values only.
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*/
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virtual void UpdateCalibrationRange(const TArray<FVector>& CalibrationValues);
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/**
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* Access the minimum- and maximum sensor values measured by this Haptic Glove, in this session.
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*/
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virtual void GetCalibrationRange(TArray<FVector>& OutMinValues,
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TArray<FVector>& OutMaxValues);
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/**
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* Updates Calibration values and applies it to the Profile.
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*/
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virtual void UpdateCalibration(UObject* Outer, USGHandProfile*& OutProfile);
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/**
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* Apply this glove's calibration range to a handProfile.
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*/
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virtual void ApplyCalibration(UObject* Outer, USGHandProfile*& OutProfile) const;
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public:
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
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*
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* @remarks The simplest interface, using default offsets.
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*/
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virtual void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FQuat& OutWristRotation) const;
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
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*
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* @remarks The simplest interface, using default offsets.
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*/
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virtual void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FRotator& OutWristRotation) const;
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/**
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* Retrieve the location of the glove origin, based on a reference location.
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*/
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virtual void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FQuat& OutGloveRotation) const;
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/**
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* Retrieve the location of the glove origin, based on a reference location.
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*/
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virtual void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FRotator& OutGloveRotation) const;
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};
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