310 lines
14 KiB
C++
310 lines
14 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 "SGKismet/SGBlueprintFunctionLibrary.h"
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#include "SGTypes/SGCoreTypes.h"
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#include "SGHapticGloveKismetLibrary.generated.h"
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class USGBasicHandModel;
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class USGBuzzCommand;
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class USGForceFeedbackCommand;
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class USGHandPose;
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class USGHandProfile;
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class USGHapticGlove;
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class USGThumperCommand;
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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(meta=(ScriptName = "SesneGloveHapticGloveKismetLibrary"))
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class SENSEGLOVECOREKISMET_API USGHapticGloveKismetLibrary : public USGBlueprintFunctionLibrary
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{
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GENERATED_BODY()
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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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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove", meta=(WorldContext="WorldContextObject"))
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static TArray<USGHapticGlove*> GetHapticGloves(UObject* WorldContextObject);
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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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UFUNCTION(BlueprintCallable, DisplayName="Get Glove", Category="SenseGlove | Core | Haptic Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetGlove_OutG(UObject* WorldContextObject, 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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UFUNCTION(BlueprintCallable, DisplayName="Get Glove", Category="SenseGlove | Core | Haptic Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetGlove_bRH_OutG(UObject* WorldContextObject, bool bRightHanded,
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USGHapticGlove*& OutGlove);
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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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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove")
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static ESGDeviceType GetDeviceType(const USGHapticGlove* HapticGlove);
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/**
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* Retrieve this glove's unique identifier.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove")
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static FString GetDeviceId(const USGHapticGlove* HapticGlove);
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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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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove")
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static FString GetHardwareVersion(const USGHapticGlove* HapticGlove);
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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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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove")
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static int32 GetFirmwareVersion(const USGHapticGlove* HapticGlove);
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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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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove")
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static int32 GetSubFirmwareVersion(const USGHapticGlove* HapticGlove);
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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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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove")
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static bool IsRight(const USGHapticGlove* HapticGlove);
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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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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Haptic Glove")
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static bool GetImuRotation_FQuat_OutI(UPARAM(ref) USGHapticGlove* HapticGlove, 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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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Haptic Glove")
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static bool GetImuRotation_FRotator_OutI(UPARAM(ref) USGHapticGlove* HapticGlove, 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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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Haptic Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_HG_HP_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGHapticGlove* HapticGlove,
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const USGBasicHandModel* HandGeometry,
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const USGHandProfile* HandProfile,
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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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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Haptic Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_HP_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGHapticGlove* HapticGlove,
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const USGHandProfile* HandProfile,
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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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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Haptic Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_HG_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGHapticGlove* HapticGlove,
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const USGBasicHandModel* HandGeometry,
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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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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Haptic Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose_OutHP(UObject* WorldContextObject,
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UPARAM(ref) USGHapticGlove* HapticGlove,
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USGHandPose*& OutHandPose);
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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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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove")
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static void StopHaptics(UPARAM(ref) USGHapticGlove* HapticGlove);
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/**
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*
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove")
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static void StopVibrations(UPARAM(ref) USGHapticGlove* HapticGlove);
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/**
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* Send Haptic Commands to this Glove.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Haptic Glove")
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static void SendHaptics_FFC(UPARAM(ref) USGHapticGlove* HapticGlove,
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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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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Haptic Glove")
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static void SendHaptics_BC(UPARAM(ref) USGHapticGlove* HapticGlove,
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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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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Haptic Glove")
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static void SendHaptics_TC(UPARAM(ref) USGHapticGlove* HapticGlove,
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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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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Haptic Glove")
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static void SendHaptics_FFC_BC(UPARAM(ref) USGHapticGlove* HapticGlove,
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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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UFUNCTION(BlueprintCallable, DisplayName="Send Haptics", Category="SenseGlove | Core | Haptic Glove")
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static void SendHaptics_FFC_BC_TC(UPARAM(ref) USGHapticGlove* HapticGlove,
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const USGForceFeedbackCommand* ForceFeedbackCommand,
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const USGBuzzCommand* BuzzCommand,
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const USGThumperCommand* ThumperCommand);
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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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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove")
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static bool GetCalibrationValues(UPARAM(ref) USGHapticGlove* HapticGlove, 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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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove")
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static void ResetCalibrationRange(UPARAM(ref) USGHapticGlove* HapticGlove);
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/**
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* Updates calibration values only.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove")
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static void UpdateCalibrationRange(UPARAM(ref) USGHapticGlove* HapticGlove);
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/**
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* Updates calibration values only.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Update Calibration", Category="SenseGlove | Core | Haptic Glove")
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static void UpdateCalibrationRange_CV(UPARAM(ref) USGHapticGlove* HapticGlove,
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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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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove")
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static void GetCalibrationRange(UPARAM(ref) USGHapticGlove* HapticGlove,
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TArray<FVector>& OutMinValues, 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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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Haptic Glove", meta=(WorldContext="WorldContextObject"))
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static void UpdateCalibration(UObject* WorldContextObject,
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UPARAM(ref) USGHapticGlove* HapticGlove, 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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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Haptic Glove", meta=(WorldContext="WorldContextObject"))
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static void ApplyCalibration(UObject* WorldContextObject,
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const USGHapticGlove* HapticGlove, USGHandProfile*& OutProfile);
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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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UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | Haptic Glove")
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static void GetWristLocation_RP_FQuat_RR_TH_OutWP_Out_WR(
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const USGHapticGlove* HapticGlove,
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FQuat& OutWristRotation);
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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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UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | Haptic Glove")
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static void GetWristLocation_RP_FRotator_RR_TH_OutWP_OutWR(
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const USGHapticGlove* HapticGlove,
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutWristPosition, FRotator& OutWristRotation);
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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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UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | Haptic Glove")
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static void GetGloveLocation_RP_FQuat_RR_TH_OutGP_OutGR(
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const USGHapticGlove* HapticGlove,
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FQuat& OutGloveRotation);
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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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UFUNCTION(BlueprintPure, DisplayName="Get Glove Location", Category="SenseGlove | Core | Haptic Glove")
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static void GetGloveLocation_RP_FRotator_RR_TH_OutGP_OutGR(
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const USGHapticGlove* HapticGlove,
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware,
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FVector& OutGlovePosition, FRotator& OutGloveRotation);
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};
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