304 lines
13 KiB
C++
304 lines
13 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 - 2026 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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* A data class containing the minimum required data for a hand's forward
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* kinematics.
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* Used in both kinematics and calibration.
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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 "SGTypes/SGFloatArray.h"
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#include "SGBasicHandModelKismetLibrary.generated.h"
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class USGBasicHandModel;
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/**
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* Represents data of a user's hand required for forward kinematics.
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*/
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UCLASS(meta=(ScriptName = "SenseGloveBasicHandModelKismetLibrary"))
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class SENSEGLOVECOREKISMET_API USGBasicHandModelKismetLibrary final : 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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* The basic class constructor.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model",
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meta=(WorldContext="WorldContextObject"))
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static USGBasicHandModel* MakeBasicHandModel(UObject* WorldContextObject);
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/**
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* Create a new BasicHandModel with no starting rotations.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Make Basic Hand Model",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model",
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meta=(WorldContext="WorldContextObject"))
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static USGBasicHandModel* MakeBasicHandModel_bRH_L_SP(
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UObject* WorldContextObject,
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bool bRightHanded, const TArray<FSGFloatArray>& Lengths, const TArray<FVector>& StartPositions);
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/**
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* Create a new BasicHandModel.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Make Basic Hand Model",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model",
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meta=(WorldContext="WorldContextObject"))
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static USGBasicHandModel* MakeBasicHandModel_bRH_L_SP_TArrayFQuat_SR(
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UObject* WorldContextObject,
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bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
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const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations);
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/**
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* Create a new BasicHandModel.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Make Basic Hand Model",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model",
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meta=(WorldContext="WorldContextObject"))
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static USGBasicHandModel* MakeBasicHandModel_bRH_L_SP_TArrayFRotator_SR(
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UObject* WorldContextObject,
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bool bRightHanded, const TArray<FSGFloatArray>& Lengths,
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const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations);
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/**
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* Retrieve a default left or right hand model.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model",
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meta=(WorldContext="WorldContextObject"))
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static USGBasicHandModel* Default(UObject* WorldContextObject, bool bRightHanded);
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/**
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* Convert a serialized HandModel back into its class representation.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model",
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meta=(WorldContext="WorldContextObject"))
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static USGBasicHandModel* Deserialize(UObject* WorldContextObject, const FString& SerializedString);
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/**
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* Default finger lengths (based on right hand).
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*
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* @remarks Any missing fingers are replaced with their respective value.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FSGFloatArray> GetBaseFingerLengths();
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/**
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* Default joint positions (based on right hand).
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*
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* @remarks Any missing positions are replaced with their respective value.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FVector> GetBaseJointPositions();
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/**
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* Default joint angles (based on right hand).
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*
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* @remarks Any missing angles are replaced with their respective value.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FVector> GetBaseJointAngles();
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/**
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* Whether or not this BasicHandModel was created for a left- or right hand. Used for validation.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static bool IsRight(const USGBasicHandModel* BasicHandModel);
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/**
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* The length of individual finger phalangers in mm, sorted per finger. Generally 5x3.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FSGFloatArray> GetFingerLengths(const USGBasicHandModel* BasicHandModel);
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/**
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* Retrieve the finger lengths of a specific finger in cm.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Finger Lengths",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<float> GetFingerLengths_F(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Set the finger lengths of a specific finger in cm.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Set Finger Lengths",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetFingerLengths_ESGFinger_F_L(UPARAM(ref) USGBasicHandModel* BasicHandModel, ESGFinger Finger,
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const TArray<float>& Lengths);
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/**
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* Set the finger lengths of a specific finger in cm.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Set Finger Lengths",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetFingerLengths_uint8_F_L(UPARAM(ref) USGBasicHandModel* BasicHandModel, uint8 Finger,
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const TArray<float>& Lengths);
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/**
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* Get the finger ratios of all fingers.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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TArray<FSGFloatArray> GetFingerRatios(const USGBasicHandModel* BasicHandModel) const;
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/**
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* Get the finger ratios of a specific finger.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Finger Ratios",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<float> GetFingerRatios_F(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Starting joint positions relative to the device Origin.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FVector> GetStartJointPositions(const USGBasicHandModel* BasicHandModel);
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/**
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*
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Set Start Joint Position",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetStartJointPosition_ESGFinger_F_P(UPARAM(ref) USGBasicHandModel* BasicHandModel, ESGFinger Finger,
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const FVector& Position);
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/**
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*
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Set Start Joint Position",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetStartJointPosition_uint8_F_P(UPARAM(ref) USGBasicHandModel* BasicHandModel, uint8 Finger,
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const FVector& Position);
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/**
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* Starting joint rotations relative to the device Origin.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Start Joint Rotations",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FQuat> GetStartJointRotations_TArrayFQuat(const USGBasicHandModel* BasicHandModel);
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/**
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* Starting joint rotations relative to the device Origin.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Start Joint Rotations",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FRotator> GetStartJointRotations_TArrayFRotator(const USGBasicHandModel* BasicHandModel);
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/**
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* Retrieve the start position of a specific finger.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static FVector GetJointPosition(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Set the start position of a specific finger.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetJointPosition(UPARAM(ref) USGBasicHandModel* BasicHandModel, const FVector& NewPosition,
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ESGFinger Finger);
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/**
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* Retrieve the start rotation of a specific finger.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Joint Rotation",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static FQuat GetJointRotation_FQuat(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Retrieve the start rotation of a specific finger.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Joint Rotation",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static FRotator GetJointRotation_FRotator(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Set the start rotation of a specific finger.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Set Joint Rotation",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetJointRotation_FQuat_NR_F(
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UPARAM(ref) USGBasicHandModel* BasicHandModel, const FQuat& NewRotation, ESGFinger Finger);
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/**
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* Set the start rotation of a specific finger.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Set Joint Rotation",
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Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static void SetJointRotation_FRotator_NR_F(
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UPARAM(ref) USGBasicHandModel* BasicHandModel, const FRotator& NewRotation, ESGFinger Finger);
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/**
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* Get the total lengths of fingers, in cm.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<float> GetTotalLengths(const USGBasicHandModel* BasicHandModel);
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/**
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* Get the total length of a specific finger, in mm.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static float GetTotalLength(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Retrieve the lengths of a specific finger, as BasicHandModel representation (L, 0, 0).
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*
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* @remarks Used for forwards kinematics.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static TArray<FVector> Get3DLengths(const USGBasicHandModel* BasicHandModel, ESGFinger Finger);
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/**
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* Check if this BasicHandModel has the same values as another BasicHandModel.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static bool Equals(const USGBasicHandModel* A, const USGBasicHandModel* B);
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/**
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* Convert this handModel into a string notation, readable for humans. Does not include starting positions / rotations.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static FString ToString(const USGBasicHandModel* BasicHandModel);
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/**
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* Convert this handModel into a string notation, readable for humans. Optionally includes starting positions / rotations.
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*/
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UFUNCTION(BlueprintPure, DisplayName="To String", Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static FString ToString_bLO(const USGBasicHandModel* BasicHandModel, bool bLengthsOnly);
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/**
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* Serialize this HandModel into a string representation.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Serialize", Category="SenseGlove | Core | Kinematics | Basic Hand Model")
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static FString SGSerialize(const USGBasicHandModel* BasicHandModel);
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}; |