329 lines
11 KiB
C++
329 lines
11 KiB
C++
/**
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* @file
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*
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* @author Mamadou Babaei <mamadou@senseglove.com>
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*
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* @section LICENSE
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*
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* (The MIT License)
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*
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* Copyright (c) 2020 - 2022 SenseGlove
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @section DESCRIPTION
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*
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*
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*/
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#include "SGCoreImpl/SGHandPoseImpl.h"
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#include <string>
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#include "Containers/StringConv.h"
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#include "Runtime/Launch/Resources/Version.h"
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#include "SGBuildHacks/SGInclude_Core_HandPose.h"
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#include "SGBuildHacks/SGInclude_Core_Quat.h"
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#include "SGBuildHacks/SGInclude_Core_Vect3D.h"
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#include "SGCoreImpl/SGBasicHandModelImpl.h"
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#include "SGCoreImpl/SGCoreEnumCast.h"
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#include "SGCoreImpl/SGQuatImpl.h"
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#include "SGCoreImpl/SGVect3DImpl.h"
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#include "SGUtils/SGArrayUtils.h"
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struct FSGHandPoseImpl::FImpl
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{
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/************************
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* Member variables
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************************/
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FHandPoseType HandPose;
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/************************
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* Owner object
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************************/
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FSGHandPoseImpl* Owner;
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/************************
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* Constructor / Destructor
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************************/
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explicit FImpl(FSGHandPoseImpl* InOwner);
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~FImpl();
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/************************
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* Default copy constructor & copy assignment operator
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************************/
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FImpl(const FImpl& Rhs) = default;
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FImpl& operator=(const FImpl& Rhs) = default;
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};
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FSGHandPoseImpl FSGHandPoseImpl::Deserialize(const FString& SerializedString)
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{
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std::string Serialized(TCHAR_TO_UTF8(*SerializedString));
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const FSGHandPoseImpl HandPose(FHandPoseType::Deserialize(MoveTemp(Serialized)));
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return HandPose;
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}
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FSGHandPoseImpl FSGHandPoseImpl::FromHandAngles(const TArray<TArray<FVector>>& HandAngles, const bool bRightHanded,
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const FSGBasicHandModelImpl& HandDimensions)
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{
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std::vector<std::vector<FSGVect3DImpl::FVect3DType>> HandAnglesVector{
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FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(
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HandAngles)
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};
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return FSGHandPoseImpl(FHandPoseType::FromHandAngles(
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MoveTemp(HandAnglesVector), bRightHanded, HandDimensions.ToBasicHandModel()));
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}
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FSGHandPoseImpl FSGHandPoseImpl::FromHandAngles(const TArray<TArray<FVector>>& HandAngles, const bool bRightHanded)
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{
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std::vector<std::vector<FSGVect3DImpl::FVect3DType>> HandAnglesVector{
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FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(
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HandAngles)
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};
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return FSGHandPoseImpl(FHandPoseType::FromHandAngles(MoveTemp(HandAnglesVector), bRightHanded));
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}
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FSGHandPoseImpl FSGHandPoseImpl::DefaultIdle(const bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions)
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{
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return FSGHandPoseImpl(FHandPoseType::DefaultIdle(bRightHanded, HandDimensions.ToBasicHandModel()));
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}
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FSGHandPoseImpl FSGHandPoseImpl::DefaultIdle(const bool bRightHanded)
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{
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return FSGHandPoseImpl(FHandPoseType::DefaultIdle(bRightHanded));
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}
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FSGHandPoseImpl FSGHandPoseImpl::FlatHand(const bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions)
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{
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return FSGHandPoseImpl(FHandPoseType::FlatHand(bRightHanded, HandDimensions.ToBasicHandModel()));
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}
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FSGHandPoseImpl FSGHandPoseImpl::FlatHand(const bool bRightHanded)
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{
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return FSGHandPoseImpl(FHandPoseType::FlatHand(bRightHanded));
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}
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FSGHandPoseImpl FSGHandPoseImpl::ThumbsUp(const bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions)
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{
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return FSGHandPoseImpl(FHandPoseType::ThumbsUp(bRightHanded, HandDimensions.ToBasicHandModel()));
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}
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FSGHandPoseImpl FSGHandPoseImpl::ThumbsUp(const bool bRightHanded)
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{
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return FSGHandPoseImpl(FHandPoseType::ThumbsUp(bRightHanded));
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}
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FSGHandPoseImpl FSGHandPoseImpl::Fist(const bool bRightHanded, const FSGBasicHandModelImpl& HandDimensions)
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{
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return FSGHandPoseImpl(FHandPoseType::Fist(bRightHanded, HandDimensions.ToBasicHandModel()));
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}
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FSGHandPoseImpl FSGHandPoseImpl::Fist(const bool bRightHanded)
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{
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return FSGHandPoseImpl(FHandPoseType::Fist(bRightHanded));
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}
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FSGHandPoseImpl::FSGHandPoseImpl()
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:
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#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 )
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
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#else
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
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#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
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{
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}
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FSGHandPoseImpl::FSGHandPoseImpl(const bool bRightHanded, const TArray<TArray<FVector>>& JointPositions,
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const TArray<TArray<FQuat>>& JointRotations, const TArray<TArray<FVector>>& HandAngles)
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:
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#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 )
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
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#else
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
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#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
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{
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std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{
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FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(JointPositions)
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};
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std::vector<std::vector<FSGQuatImpl::FQuatType>> JointRotationsVector{
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FSGArrayUtils::ToStdVector<FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(JointRotations)
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};
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std::vector<std::vector<FSGVect3DImpl::FVect3DType>> HandAnglesVector{
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FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(
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HandAngles)
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};
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Pimpl->HandPose = FHandPoseType(
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bRightHanded, MoveTemp(JointPositionsVector), MoveTemp(JointRotationsVector), MoveTemp(HandAnglesVector));
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}
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FSGHandPoseImpl::FSGHandPoseImpl(const FHandPoseType& SenseGloveHandPose)
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:
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#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 )
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
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#else
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}))
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#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
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{
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Pimpl->HandPose = SenseGloveHandPose;
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}
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FSGHandPoseImpl::FSGHandPoseImpl(const FSGHandPoseImpl& Rhs)
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:
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#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 )
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{*Rhs.Pimpl}, PimplDeleter))
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#else
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Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{*Rhs.Pimpl}))
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#endif /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 22 ) */
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{
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Pimpl->Owner = this;
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}
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FSGHandPoseImpl::FSGHandPoseImpl(FSGHandPoseImpl&& Rhs) noexcept = default;
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FSGHandPoseImpl::~FSGHandPoseImpl() = default;
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FSGHandPoseImpl& FSGHandPoseImpl::operator=(const FSGHandPoseImpl& Rhs)
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{
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*Pimpl = *Rhs.Pimpl;
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Pimpl->Owner = this;
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return *this;
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}
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FSGHandPoseImpl& FSGHandPoseImpl::operator=(FSGHandPoseImpl&& Rhs) noexcept
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= default;
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const FSGHandPoseImpl::FHandPoseType& FSGHandPoseImpl::ToHandPose() const
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{
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return Pimpl->HandPose;
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}
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bool FSGHandPoseImpl::IsRight() const
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{
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return Pimpl->HandPose.IsRight();
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}
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void FSGHandPoseImpl::SetIsRight(const bool bRightHanded) const
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{
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Pimpl->HandPose.SetIsRight(bRightHanded);
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}
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TArray<TArray<FVector>> FSGHandPoseImpl::GetJointPositions() const
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{
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TArray<TArray<FVector>> JointPositions{
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FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
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Pimpl->HandPose.GetJointPositions())
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};
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return MoveTemp(JointPositions);
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}
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void FSGHandPoseImpl::SetJointPositions(const TArray<TArray<FVector>>& JointPositions) const
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{
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std::vector<std::vector<FSGVect3DImpl::FVect3DType>> JointPositionsVector{
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FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(
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JointPositions)
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};
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Pimpl->HandPose.SetJointPositions(MoveTemp(JointPositionsVector));
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}
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TArray<TArray<FQuat>> FSGHandPoseImpl::GetJointRotations() const
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{
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TArray<TArray<FQuat>> JointRotations{
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FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat, FSGQuatImpl, &FSGQuatImpl::ToFQuat>(
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Pimpl->HandPose.GetJointRotations())
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};
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return MoveTemp(JointRotations);
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}
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void FSGHandPoseImpl::SetJointRotations(const TArray<TArray<FQuat>>& JointRotations) const
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{
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std::vector<std::vector<FSGQuatImpl::FQuatType>> JointRotationsVector{
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FSGArrayUtils::ToStdVector<FQuat, FSGQuatImpl::FQuatType, FSGQuatImpl, &FSGQuatImpl::ToQuat>(
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JointRotations)
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};
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Pimpl->HandPose.SetJointRotations(MoveTemp(JointRotationsVector));
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}
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TArray<TArray<FVector>> FSGHandPoseImpl::GetHandAngles() const
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{
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TArray<TArray<FVector>> HandAngles{
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FSGArrayUtils::FromStdVector<FSGVect3DImpl::FVect3DType, FVector, FSGVect3DImpl, &FSGVect3DImpl::ToFVector>(
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Pimpl->HandPose.GetHandAngles())
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};
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return MoveTemp(HandAngles);
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}
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void FSGHandPoseImpl::SetHandAngles(const TArray<TArray<FVector>>& HandAngles) const
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{
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std::vector<std::vector<FSGVect3DImpl::FVect3DType>> HandAnglesVector{
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FSGArrayUtils::ToStdVector<FVector, FSGVect3DImpl::FVect3DType, FSGVect3DImpl, &FSGVect3DImpl::ToVect3D>(
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HandAngles)
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};
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Pimpl->HandPose.SetHandAngles(MoveTemp(HandAnglesVector));
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}
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bool FSGHandPoseImpl::Equals(const FSGHandPoseImpl& HandPoseImpl) const
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{
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return Pimpl->HandPose.Equals(HandPoseImpl.ToHandPose());
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}
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float FSGHandPoseImpl::GetNormalizedFlexion(ESGFinger Finger, bool bClamp01) const
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{
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return Pimpl->HandPose.GetNormalizedFlexion(FSGCoreEnumCast::ToEFinger(Finger), bClamp01);
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}
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TArray<float> FSGHandPoseImpl::GetNormalizedFlexion(bool bClamp01) const
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{
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TArray<float> NormalizedFlexion{
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FSGArrayUtils::FromStdVector<float>(Pimpl->HandPose.GetNormalizedFlexion(bClamp01))
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};
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return MoveTemp(NormalizedFlexion);
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}
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FString FSGHandPoseImpl::ToString(bool bShortFormat) const
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{
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FString String(UTF8_TO_TCHAR(Pimpl->HandPose.ToString(bShortFormat).c_str()));
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return MoveTemp(String);
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}
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FString FSGHandPoseImpl::Serialize() const
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{
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FString Serialized(UTF8_TO_TCHAR(Pimpl->HandPose.Serialize().c_str()));
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return MoveTemp(Serialized);
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}
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FSGHandPoseImpl::FImpl::FImpl(FSGHandPoseImpl* InOwner)
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: Owner(InOwner)
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{
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}
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FSGHandPoseImpl::FImpl::~FImpl() = default;
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void FSGHandPoseImpl::FImplDeleter::operator()(const FImpl* P) const
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{
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delete P;
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} |