514 lines
22 KiB
C++
514 lines
22 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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* An interface for the "Nova" - a soft glove.
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* Contains methods for Kinematics, Haptics and Serialization.
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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 "SGNovaGloveKismetLibrary.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 USGNovaGlove;
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class USGNovaGloveHandProfile;
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class USGNovaGloveSensorData;
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/**
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* A soft glove with Force- and Vibrotactile Feedback and limited tracking.
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*/
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UCLASS(meta=(ScriptName = "SenseGloveNovaGloveKismetLibrary"))
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class SENSEGLOVECOREKISMET_API USGNovaGloveKismetLibrary 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 from its ConstantsString. Returns a nullptr if unsuccessful.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova 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's.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static TArray<USGNovaGlove*> GetNovaGloves(UObject* WorldContextObject);
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/**
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* Retrieve the first connected Nova there is.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetNovaGlove_OutG(UObject* WorldContextObject, USGNovaGlove*& OutGlove);
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/**
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* Retrieve the first (connected) right or left handed Nova.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Nova Glove", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetNovaGlove_bRH_OutG(UObject* WorldContextObject,
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bool bRightHanded, USGNovaGlove*& 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 Glove")
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static void CalculateGloveLocation_RP_FQuat_RR_TH_bRH_OutGP_OutGR(
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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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 Glove")
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static void CalculateGloveLocation_RP_FRotator_RR_TH_bRH_OutGP_OutGR(
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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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 Glove")
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static void CalculateWristLocation_RP_FQuat_RR_TH_bRH_OutWP_OutWR(
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const FVector& ReferencePosition, const FQuat& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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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 Glove")
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static void CalculateWristLocation_RP_FRotator_RR_TH_bRH_OutWP_OutWR(
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const FVector& ReferencePosition, const FRotator& ReferenceRotation,
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ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded,
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FVector& OutWristPosition, FRotator& OutWristRotation);
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/**
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* Byte indicating a new Nova haptic command.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString GetHapticsByte();
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/**
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* Byte indicating a new Nova thresholds command.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString GetThresholdsByte();
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/**
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* Byte to ignore Thresholds.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString GetIgnoreThresholdsByte();
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/**
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* Ranges before a Nova 1.0 Sensor is allowed to move.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static TArray<float> GetNovaSensorRanges();
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/**
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* Converts Nova Sensor Data into floating point inputs for normalization.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="To Normalized Values", Category="SenseGlove | Core | Nova | Nova Glove")
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static TArray<float> ToNormalizedValues_SD(const USGNovaGloveSensorData* 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", Category="SenseGlove | Core | Nova | Nova Glove",
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meta=(WorldContext="WorldContextObject"))
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static TArray<float> ToNormalizedValues_SD_OutSN(
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UObject* WorldContextObject,
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const USGNovaGloveSensorData* SensorData, USGSensorNormalization*& OutSensorNormalizer);
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/**
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* Calculate Hand Angles for a Nova Glove, based on normalized input.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static TArray<FSGVectorArray> CalculateHandAngles(
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const TArray<float>& NormalizedValues, const USGHandInterpolator* Interpolator);
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/**
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* Converts a Threshold command into a Nova Glove command.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToNovaCommandAsFlexion(const USGThresholdCommand* Thresholds);
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/**
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* Converts a Threshold command into a Nova Glove command.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToNovaCommandAsRaw(
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const USGThresholdCommand* Thresholds, const USGSensorNormalization* Interpolator);
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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 Glove")
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static ESGDeviceType GetDeviceType(const USGNovaGlove* NovaGlove);
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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 Glove")
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static FString GetDeviceId(const USGNovaGlove* NovaGlove);
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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 Glove")
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static FString GetHardwareVersion(const USGNovaGlove* NovaGlove);
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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 Glove")
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static int32 GetFirmwareVersion(const USGNovaGlove* NovaGlove);
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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 Glove")
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static int32 GetSubFirmwareVersion(const USGNovaGlove* NovaGlove);
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/**
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* Change this device's index within the SenseCom. Warning: Can cause errors.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static void SetDeviceIndex(UPARAM(ref) USGNovaGlove* NovaGlove, int32 NewIndex);
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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 Glove")
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static bool HasBattery(const USGNovaGlove* NovaGlove);
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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 Glove")
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static bool IsCharging(UPARAM(ref) USGNovaGlove* NovaGlove);
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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 Glove")
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static bool GetBatteryLevel(UPARAM(ref) USGNovaGlove* NovaGlove, 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 Glove")
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static bool IsRight(const USGNovaGlove* NovaGlove);
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/**
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* Retrieve Nova rotation.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Nova | Nova Glove")
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static bool GetImuRotation_FQuat_OutI(UPARAM(ref) USGNovaGlove* NovaGlove, FQuat& OutImu);
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/**
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* Retrieve Nova rotation.
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*/
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UFUNCTION(BlueprintCallable, DisplayName="Get Imu Rotation", Category="SenseGlove | Core | Nova | Nova Glove")
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static bool GetImuRotation_FRotator_OutI(UPARAM(ref) USGNovaGlove* NovaGlove, 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 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandPose(UObject* WorldContextObject,
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UPARAM(ref) USGNovaGlove* NovaGlove,
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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 Nova 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 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetHandAngles(const USGNovaGlove* NovaGlove, TArray<FSGVectorArray>& OutHandAngles);
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/*
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* Retrieve the calibration status of this Nova Glove.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static ESGHapticGloveCalibrationState GetCalibrationState(const USGNovaGlove* NovaGlove);
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/*
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* Completes sensor Normalization on the Nova's end.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static void EndCalibration(UPARAM(ref) USGNovaGlove* NovaGlove);
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/*
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* Completes sensor Normalization on the Nova's end.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static void ResetCalibration(UPARAM(ref) USGNovaGlove* NovaGlove);
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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 Glove")
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static void StopHaptics(UPARAM(ref) USGNovaGlove* NovaGlove);
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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 Glove")
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static void StopVibrations(UPARAM(ref) USGNovaGlove* NovaGlove);
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/**
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* Take all active commands in the device queue, compile them into one and send them to the device.
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*
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* @returns Returns true if the message was successfully sent to SenseCom. Returns false if no changes to commands
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* were detected.
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*
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* @remarks Generic function across any Haptic Interface in SGCore.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool SendHaptics(UPARAM(ref) USGNovaGlove* NovaGlove);
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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 Glove")
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static bool SupportsCustomWaveform(const USGNovaGlove* NovaGlove, ESGHapticLocation AtLocation);
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/**
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* Send a custom waveform to the Nova.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool SendCustomWaveform(UPARAM(ref) USGNovaGlove* NovaGlove,
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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 Glove")
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static bool QueueForceFeedbackLevels(UPARAM(ref) USGNovaGlove* NovaGlove, 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 Glove")
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static bool QueueForceFeedbackLevel(UPARAM(ref) USGNovaGlove* NovaGlove, int32 Finger, float Level01);
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/**
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* Queue a vibrotactile level for each finger.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool QueueVibroLevels(UPARAM(ref) USGNovaGlove* NovaGlove, 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.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool QueueVibroLevel_L_L(UPARAM(ref) USGNovaGlove* NovaGlove, 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 Glove")
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static void GetGloveLocation_RP_FQuat_RR_TH_OutGP_FQuat_OutGR(
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const USGNovaGlove* NovaGlove,
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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 Glove")
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static void GetGloveLocation_RP_FRotator_RR_TH_OutGP_FRotator_OutGR(
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const USGNovaGlove* NovaGlove,
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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 Glove")
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static void GetWristLocation_RP_FQuat_RR_TH_OutWP_FQuat_OutWR(
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const USGNovaGlove* NovaGlove,
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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 Glove")
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static void GetWristLocation_RP_FRotator_RR_TH_OutWP_FRotator_OutWR(
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const USGNovaGlove* NovaGlove,
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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 all sorts of device info specific to this Nova.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove", meta=(WorldContext="WorldContextObject"))
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static USGNovaGloveInfo* GetGloveInfo(UObject* WorldContextObject, const USGNovaGlove* NovaGlove);
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/**
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* If true, this Nova Glove supports sending special firmware commands to lock brakes at specific sensor values.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool SupportsThresholds(const USGNovaGlove* NovaGlove);
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/**
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* If true, this Nova Glove supports sending custom 'fire-and-forget' waveforms.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool SupportsCustomWaveforms(const USGNovaGlove* NovaGlove);
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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 Glove")
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static bool SupportsOnBoardNormalization(const USGNovaGlove* NovaGlove);
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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 Glove",
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meta=(WorldContext="WorldContextObject"))
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static bool GetSensorData(UObject* WorldContextObject,
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UPARAM(ref) USGNovaGlove* NovaGlove, USGNovaGloveSensorData*& OutSensorData);
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/**
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* Converts a set of commands into a series of bytes (string) this glove can understand.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static FString ToNovaCommand(
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const USGNovaGlove* NovaGlove,
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const TArray<float>& ForceFeedbackLevels, const TArray<float>& BuzzLevels, float WristLevel);
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/**
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* Queue a vibrotactle level for a specific finger.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool QueueVibroLevel_F_A(UPARAM(ref) USGNovaGlove* NovaGlove, int32 Finger, float Amplitude);
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/**
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* Queue a command to the vibration amplitude of a general wrist actuator to a set level.
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*
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* @returns Returns true if the wrist command has been successfully queued. If false, the device might not support
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* direct wrist control or have the appropriate firmware.
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*
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* @remarks This one isn't contained in an interface as it's not used outside of the NovaGlove class.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool QueueWristLevel(UPARAM(ref) USGNovaGlove* NovaGlove, float Amplitude);
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/**
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* Convert a HapticLocation into a Nova Motor location.
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static ESGNovaVibroMotor ToNovaMotor(const USGNovaGlove* NovaGlove, 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 Nova GLove(s).
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*/
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UFUNCTION(BlueprintPure, Category="SenseGlove | Core | Nova | Nova Glove")
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static int32 ChannelIndex(const USGNovaGlove* NovaGlove, ESGNovaVibroMotor Motor);
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/**
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* Ensures the waveform that is to be sent to this Nova Glove has the appropriate parameters.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static void ValidateWaveform(const USGNovaGlove* NovaGlove,
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USGCustomWaveform* OutWaveform, ESGNovaVibroMotor Motor);
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/**
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* Directly sends a custom waveform to the Nova Glove motors, as opposed to specifying a Haptic Location.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool SendCustomWaveform_Nova(
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UPARAM(ref) USGNovaGlove* NovaGlove,
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USGCustomWaveform* OutWaveform, ESGNovaVibroMotor Motor, bool bValidateWaveform = true);
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/**
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* Stops the glove when flexing pas this point.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool QueueThresholdCommand_Flexion(UPARAM(ref) USGNovaGlove* NovaGlove,
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int32 Finger, float FlexionThreshold);
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/**
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* Queue a command to clear the threshold for a specific finger.
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*
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* @returns Returns true if the command was queued. If false, the device does not have the required firmware for
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* these commands.
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*/
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UFUNCTION(BlueprintCallable, Category="SenseGlove | Core | Nova | Nova Glove")
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static bool QueueClearThreshold(UPARAM(ref) USGNovaGlove* NovaGlove, int32 Finger);
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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 Glove")
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static FString ToString(const USGNovaGlove* NovaGlove);
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}; |