473 lines
21 KiB
C++
473 lines
21 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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* Interface for Nova 2.0 Gloves. A soft glove with detachable force-feedback
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* and sensor module, and active contact feedback in the front strap.
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* Since the Nova 2.0 is significantly different from the Nova 1 Glove, it gets
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* its own separate device interface.
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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/SGVectorArray.h"
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#include "SGNova2GloveKismetLibrary.generated.h"
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class USGBasicHandModel;
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class USGDevice;
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class USGHandPose;
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class USGHandProfile;
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class USGNova2Glove;
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class USGNova2GloveHandProfile;
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class USGNova2GloveSensorData;
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/**
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* Interface for Nova 2.0 Gloves. A soft glove with detachable force-feedback and sensor module, and active contact
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* feedback in the front strap.
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*/
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UCLASS(meta=(ScriptName = "SenseGloveNova2GloveKismetLibrary"))
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class SENSEGLOVECOREKISMET_API USGNova2GloveKismetLibrary 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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* Deserializes a Nova 2.0 from its ConstantsString. Returns a nullptr if unsuccessful.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static USGDevice* Parse(UObject* WorldContextObject, const FString& ConstantsString);
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/**
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* Retrieve all Nova 2.0's.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static TArray<USGNova2Glove*> GetNova2Gloves(UObject* WorldContextObject);
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/**
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* Retrieve the first connected Nova 2.0 there is.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Nova2 Glove", Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetNova2Glove_OutG(UObject* WorldContextObject, USGNova2Glove*& OutGlove);
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/**
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* Retrieve the first (connected) right or left handed Nova 2.0.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Nova2 Glove", Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetNova2Glove_bRH_OutG(UObject* WorldContextObject,
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bool bRightHanded, USGNova2Glove*& OutGlove);
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/**
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* Retrieve the location of the glove origin, based on a reference location without requiring an object reference.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Location",
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Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void CalculateGloveLocation_RP_FQuat_RR_TH_bRH_HW_OutGP_OutGR(
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, const FString& HardwareVersion,
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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 without requiring an object reference.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Glove Location",
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Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void CalculateGloveLocation_RP_FRotator_RR_TH_bRH_HW_OutGP_OutGR(
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, const FString& HardwareVersion,
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FVector& OutGlovePosition, FRotator& OutGloveRotation);
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/**
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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets, without
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* needing an object reference.
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*
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* @remarks The simplest interface, using default offsets.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Wrist Location",
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Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void CalculateWristLocation_RP_FQuat_RR_TH_bRH_HW_OutWP_OutWR(
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, const FString& HardwareVersion,
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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, without
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* needing an object reference.
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*
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* @remarks The simplest interface, using default offsets.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Calculate Wrist Location",
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Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void CalculateWristLocation_RP_FRotator_RR_TH_bRH_HW_OutWP_OutWR(
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, const FString& HardwareVersion,
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FVector& OutWristPosition, FRotator& OutWristRotation);
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/**
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* Special Byte to identify the command as a Streaming Byte.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static FString GetStreamByte();
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/**
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* Ranges before a Nova 2.0 Sensor is allowed to move.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static TArray<float> GetNova2SensorRanges();
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/**
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* Converts Nova 2.0 Sensor Data into floating point inputs for normalization.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="To Normalized Values",
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Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static TArray<float> ToNormalizedValues_SD(const USGNova2GloveSensorData* SensorData);
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/**
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* Convert Sensor Data into a series of normalized values.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="To Normalized Values",
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Category="SenseGlove | Core | Nova | Nova 2 Glove", meta=(WorldContext="WorldContextObject"))
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static TArray<float> ToNormalizedValues_SD_OutSN(
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UObject* WorldContextObject,
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const USGNova2GloveSensorData* SensorData, USGSensorNormalization*& OutSensorNormalizer);
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/**
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* Calculate Hand Angles for a Nova 2.0 Glove, based on normalized input.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static TArray<FSGVectorArray> CalculateHandAngles(
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const TArray<float>& NormalizedValues, const USGHandInterpolator* Interpolator, bool bInfluenceIndex);
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/**
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* Convert normalized inputs (5-6 sensors) to input for an Interpolator.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static TArray<FSGVectorArray> ToNormalizedAngles(
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const TArray<float>& NormalizedData, const USGNovaGloveInfo* GloveInfo);
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/**
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* Return the DeviceType of this Nova.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static ESGDeviceType GetDeviceType(const USGNova2Glove* Nova2Glove);
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/**
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* Returns this device's unique identifier.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static FString GetDeviceId(const USGNova2Glove* Nova2Glove);
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/**
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* Access this device's hardware designation.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static FString GetHardwareVersion(const USGNova2Glove* Nova2Glove);
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/**
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* Access this device's main firmware version. (ex: v3.2 -> 3).
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static int32 GetFirmwareVersion(const USGNova2Glove* Nova2Glove);
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/**
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* Access this device's sub-firmware version. (ex: v3.2 -> 2).
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static int32 GetSubFirmwareVersion(const USGNova2Glove* Nova2Glove);
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/**
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* Returns true if this device operates on a battery.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool HasBattery(const USGNova2Glove* Nova2Glove);
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/**
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* Returns true if this device is currently charging.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool IsCharging(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/**
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* Returns the device's battery level, as a value between 0 (empty) and 1 (full).
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool GetBatteryLevel(UPARAM(ref) USGNova2Glove* Nova2Glove, float& OutBatteryLevel);
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/**
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* Returns true if this glove is meant for right hands.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool IsRight(const USGNova2Glove* Nova2Glove);
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/**
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* Retrieve this glove's latest IMU rotation, if one is present.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool GetImuRotation_FQuat_OutI(UPARAM(ref) USGNova2Glove* Nova2Glove, FQuat& OutImu);
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/**
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* Retrieve this glove's latest IMU rotation, if one is present.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool GetImuRotation_FRotator_OutI(UPARAM(ref) USGNova2Glove* Nova2Glove, FRotator& OutImu);
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/**
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* Retrieve a new hand pose using this glove, based on (calibrated) user data.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Hand Pose", Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose(UObject* WorldContextObject,
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UPARAM(ref) USGNova2Glove* Nova2Glove,
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const USGBasicHandModel* HandModel,
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USGHandPose*& OutHandPose);
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/**
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* Returns the Hand Angles calculated by this Nova2 Glove. Used for input for HandPoses, but can be used in and of
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* itself.
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*
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* @param OutHandAngles
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Hand Angles", Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandAngles(const USGNova2Glove* Nova2Glove, TArray<FSGVectorArray>& OutHandAngles);
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/*
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* Retrieve the calibration status of this Nova 2.0 Glove.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static ESGHapticGloveCalibrationState GetCalibrationState(const USGNova2Glove* Nova2Glove);
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/*
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* Completes sensor Normalization on the Nova 2.0's end.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void EndCalibration(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/*
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* Completes sensor Normalization on the Nova 2.0's end.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void ResetCalibration(UPARAM(ref) USGNova2Glove* Nova2Glove);
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public:
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/*
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* Stop all haptic feedback effects playing on this device.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void StopHaptics(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/**
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* Stop only all vibrotactile feedback.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void StopVibrations(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/**
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* Flush all streaming haptic effects on the different fingers to the Nova 2.0 Glove.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SendHaptics(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/**
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* Returns true if this Glove supports the chosen haptic location.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SupportsCustomWaveform(const USGNova2Glove* Nova2Glove, ESGHapticLocation AtLocation);
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/**
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* Send a custom waveform to the Nova 2.0.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SendCustomWaveform(UPARAM(ref) USGNova2Glove* Nova2Glove,
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USGCustomWaveform* OutWaveform, ESGHapticLocation Location);
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/**
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* Queue a list of force-feedback levels, between 0.0 and 1.0. Your list should be sorted from thumb to pinky.
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*
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* @remarks Devices that 'only' have on/off FFB will treat any value > 0.0 as 1.0.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool QueueForceFeedbackLevels(UPARAM(ref) USGNova2Glove* Nova2Glove, const TArray<float>& Levels01);
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/**
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* Set the Force-Feedback value of a particular finger to a specific level.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool QueueForceFeedbackLevel(UPARAM(ref) USGNova2Glove* Nova2Glove, int32 Finger, float Level01);
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/**
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* Queue a list of vibration levels, between 0.0 and 1.0. Your list should be sorted from thumb to pinky.
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*
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* @remarks Devices that 'only' have on/off FFB will treat any value > 0.0 as 1.0.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool QueueVibroLevels(UPARAM(ref) USGNova2Glove* Nova2Glove, const TArray<float>& Amplitudes);
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/**
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* Queue a command to set the (continuous) vibration level at a specific location to a set amplitude. This is to
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* support backwards compatibility for older plugins. Use of Customwaveforms is encouraged.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool QueueVibroLevel(UPARAM(ref) USGNova2Glove* Nova2Glove, ESGHapticLocation Location, float Level01);
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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 | Nova | Nova 2 Glove")
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static void GetGloveLocation_RP_FQuat_RR_TH_OutGP_FQuat_OutGR(
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const USGNova2Glove* Nova2Glove,
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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 | Nova | Nova 2 Glove")
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static void GetGloveLocation_RP_FRotator_RR_TH_OutGP_FRotator_OutGR(
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const USGNova2Glove* Nova2Glove,
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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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* Retrieve the location of the wrist, based on a reference location and default glove-hand offsets.
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*/
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UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void GetWristLocation_RP_FQuat_RR_TH_OutWP_FQuat_OutWR(
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const USGNova2Glove* Nova2Glove,
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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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UFUNCTION(BlueprintPure, DisplayName="Get Wrist Location", Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void GetWristLocation_RP_FRotator_RR_TH_OutWP_FRotator_OutWR(
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const USGNova2Glove* Nova2Glove,
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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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* Access DeviceInfo of this Nova.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static USGNovaGloveInfo* GetGloveInfo(UObject* WorldContextObject, const USGNova2Glove* Nova2Glove);
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/**
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* If true, the Index Finger sensors will influence the tracking of the other fingers.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool DoesIndexInfluenceOthers(const USGNova2Glove* Nova2Glove);
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/**
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*
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void SetIndexInfluencesOthers(UPARAM(ref) USGNova2Glove* Nova2Glove, bool bInfluenceOthers);
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/**
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* If true, this glove's sensor calibration runs on board the device.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SupportsOnBoardNormalization(const USGNova2Glove* Nova2Glove);
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/**
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* Get the latest Sensor Data from this Glove.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetSensorData(UObject* WorldContextObject,
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UPARAM(ref) USGNova2Glove* Nova2Glove, USGNova2GloveSensorData*& OutSensorData);
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/**
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* Returns the normalized Sensor Data of this Nova2 Glove. If no normalization is running on the glove(s), then
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* it's done on the PC side.
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*
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* @param OutNormalizedValues
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool GetNormalizedInput(const USGNova2Glove* Nova2Glove, TArray<float>& OutNormalizedValues);
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/**
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* Tell the Nova Glove to send Raw Data instead of normalized data.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SendRawData(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/**
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* Tell the Nova Glove to send normalized data.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SendNormalizedData(UPARAM(ref) USGNova2Glove* Nova2Glove);
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/**
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* Convert a HapticLocation into a Nova 2.0 Motor location.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static ESGNova2VibroMotor ToNovaMotor(const USGNova2Glove* Nova2Glove, ESGHapticLocation Location);
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/**
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* Returns the channel index for a particular motor. Can make this as complex as I want for the Nova2 GLove(s).
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static int32 ChannelIndex(const USGNova2Glove* Nova2Glove, ESGNova2VibroMotor Motor);
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/**
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* Ensures the waveform that is to be sent to this Nova2 Glove has the appropriate parameters.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static void ValidateWaveform(const USGNova2Glove* Nova2Glove,
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USGCustomWaveform* OutWaveform, ESGNova2VibroMotor Motor);
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/**
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* Directly sends a custom waveform to the Nova 2.0 Glove motors, as opposed to specifying a Haptic Location.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static bool SendCustomWaveform_Nova2(
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UPARAM(ref) USGNova2Glove* Nova2Glove,
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USGCustomWaveform* OutWaveform, ESGNova2VibroMotor Motor, bool bValidateWaveform = true);
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/**
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* Create a string representation of this device for reporting purposes.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova 2 Glove")
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static FString ToString(const USGNova2Glove* Nova2Glove);
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}; |