CoreSdkWrapperTypes.h

#ifndef H_CORESDKWRAPPERTYPES
#define H_CORESDKWRAPPERTYPES
 
// Set up a Doxygen group.
#ifdef __cplusplus
extern "C"
{
#endif
 
#include <stdint.h>
 
/******************************************************************************
 * Preprocessor defines.
 *****************************************************************************/
 
#define NUM_FINGERS_ON_HAND 5
#define NUM_PHALANGES_IN_FINGER 3
#define NUM_FLEX_SEGMENTS_PER_FINGER 2
#define NUM_BONES_IN_POLYGON_SKELETON (eBONETYPE_RIGHT_HAND + 1)
#define MAX_NUM_IMUS_ON_GLOVE (NUM_FINGERS_ON_HAND + 1)
#define FLEX_SENSOR_MCP 0
#define FLEX_SENSOR_PIP 1
#define MAX_NUM_USERS 32
// Host name length is based on a post made here:
// https://community.cisco.com/t5/other-network-architecture/maximum-length-hostname/td-p/529327
// Which in turn was based on: https://www.ietf.org/rfc/rfc1035.txt
#define MAX_NUM_CHARS_IN_HOST_NAME 256
#define MAX_NUM_CHARS_IN_IP_ADDRESS 40
#define MAX_NUM_CHARS_IN_TRACKER_ID 32
#define MAX_NUM_CHARS_IN_TARGET_ID 32
#define MAX_NUM_CHARS_IN_VERSION 16
 
#define UNINITIALISED_ID 0
 
/******************************************************************************
 * Enums.
 *****************************************************************************/
 
typedef enum
{
    eCORESDKWRAPPER_SUCCESS,
 
    eCORESDKWRAPPER_ERROR,
 
    eCORESDKWRAPPER_INVALID_ARGUMENT,
 
    eCORESDKWRAPPER_ARGUMENT_SIZE_MISMATCH,
 
    eCORESDKWRAPPER_UNSUPPORTED_STRING_SIZE_ENCOUNTERED,
 
    eCORESDKWRAPPER_SDK_NOT_AVAILABLE,
 
    eCORESDKWRAPPER_HOST_FINDER_NOT_AVAILABLE,
 
    eCORESDKWRAPPER_DATA_NOT_AVAILABLE,
 
    eCORESDKWRAPPER_MEMORY_ERROR,
 
    eCORESDKWRAPPER_INTERNAL_ERROR,
 
    eCORESDKWRAPPER_FUNCTION_CALLED_AT_WRONG_TIME,
 
    eCORESDKWRAPPER_NOT_CONNECTED,
 
    eCORESDKWRAPPER_CONNECTION_TIMEOUT
} WrapperReturnCode;
 
typedef uint32_t WrapperReturnCode_t;
 
typedef enum
{
    eHANDTYPE_INVALID,
 
    eHANDTYPE_LEFT_HAND,
 
    eHANDTYPE_RIGHT_HAND
} HandType;
 
typedef enum
{
    eCLIENTTYPE_INVALID,
 
    eCLIENTTYPE_MOTIONBUILDER,
 
    eCLIENTTYPE_UNREAL
} ClientType;
 
typedef enum
{
    eGLOVETYPE_INVALID,
 
    eGLOVETYPE_APOLLO_LEGACY,
 
    eGLOVETYPE_PRIME_ONE,
 
    eGLOVETYPE_PRIME_TWO
} GloveType;
 
typedef enum 
{
    eHANDLOCALTO_ROOT,
 
    eHANDLOCALTO_HIPS,
 
    eHANDLOCALTO_SPINE,
 
    eHANDLOCALTO_ARMS
} HandLocalTo;
 
typedef enum
{
    eBONETYPE_ROOT,
    eBONETYPE_HEAD,
    eBONETYPE_NECK,
    eBONETYPE_HIPS,
    eBONETYPE_SPINE,
    eBONETYPE_CHEST,
    eBONETYPE_UPPER_CHEST,
    eBONETYPE_LEFT_UPPER_LEG,
    eBONETYPE_RIGHT_UPPER_LEG,
    eBONETYPE_LEFT_LOWER_LEG,
    eBONETYPE_RIGHT_LOWER_LEG,
    eBONETYPE_LEFT_FOOT,
    eBONETYPE_RIGHT_FOOT,
    eBONETYPE_LEFT_TOES,
    eBONETYPE_RIGHT_TOES,
    eBONETYPE_LEFT_TOES_END,
    eBONETYPE_RIGHT_TOES_END,
    eBONETYPE_LEFT_SHOULDER,
    eBONETYPE_RIGHT_SHOULDER,
    eBONETYPE_LEFT_UPPER_ARM,
    eBONETYPE_RIGHT_UPPER_ARM,
    eBONETYPE_LEFT_LOWER_ARM,
    eBONETYPE_RIGHT_LOWER_ARM,
    eBONETYPE_LEFT_HAND,
    eBONETYPE_RIGHT_HAND
} BoneType;
 
typedef enum
{
    ePOLYGONTARGETCASE_NONE,
 
    ePOLYGONTARGETCASE_BODYESTIMATION,
 
    ePOLYGONTARGETCASE_TARGETSKELETON
} PolygonTargetCase;
 
typedef enum
{
    eTRACKERTYPE_UNKNOWN,
    eTRACKERTYPE_HEAD,
    eTRACKERTYPE_WAIST,
    eTRACKERTYPE_LEFT_HAND,
    eTRACKERTYPE_RIGHT_HAND,
    eTRACKERTYPE_LEFT_FOOT,
    eTRACKERTYPE_RIGHT_FOOT,
    eTRACKERTYPE_LEFT_UPPER_ARM,
    eTRACKERTYPE_RIGHT_UPPER_ARM,
    eTRACKERTYPE_LEFT_UPPER_LEG,
    eTRACKERTYPE_RIGHT_UPPER_LEG,
    eTRACKERTYPE_CONTROLLER,
    eTRACKERTYPE_CAMERA
} TrackerType;
 
typedef uint32_t TrackerType_t;
 
/******************************************************************************
 * Structs.
 *****************************************************************************/
 
typedef struct ManusVec3
{
    float x = 0.0f;
    float y = 0.0f;
    float z = 0.0f;
} ManusVec3;
 
typedef struct ManusQuaternion
{
    float w = 1.0f;
    float x = 0.0f;
    float y = 0.0f;
    float z = 0.0f;
} ManusQuaternion;
 
typedef struct ManusVersion 
{
    char m_String[MAX_NUM_CHARS_IN_VERSION];
} ManusVersion;
 
typedef struct LessFrequentlySentData
{
    bool m_DataIsAvailable = false;
 
    uint32_t m_BatteryPercentage = 0;
 
    int32_t m_TransmissionStrengthInDb = 0;
    GloveType m_GloveType = GloveType::eGLOVETYPE_INVALID;
} LessFrequentlySentData;
 
typedef struct ManusRawData
{
    float m_FlexSensor[NUM_FINGERS_ON_HAND][NUM_FLEX_SEGMENTS_PER_FINGER];
 
    ManusQuaternion m_Imus[MAX_NUM_IMUS_ON_GLOVE];
} ManusRawData;
 
typedef struct ManusWristTransform
{
    bool m_DataIsAvailable;
 
    ManusVec3 m_Position;
    ManusQuaternion m_Orientation;
} ManusWristTransform;
 
typedef struct ManusProcessedData
{
    ManusQuaternion m_WristImu;
 
    ManusWristTransform m_WristTransforms[MAX_NUM_USERS];
 
    ManusQuaternion m_Joints[NUM_FINGERS_ON_HAND][NUM_PHALANGES_IN_FINGER];
 
    float m_Stretch[NUM_FINGERS_ON_HAND][NUM_PHALANGES_IN_FINGER];
    float m_StretchDegrees[NUM_FINGERS_ON_HAND][NUM_PHALANGES_IN_FINGER];
 
    float m_Spread[NUM_FINGERS_ON_HAND];
    float m_SpreadDegrees[NUM_FINGERS_ON_HAND];
} ManusProcessedData;
 
typedef struct GloveData
{
    int64_t m_LastUpdateTime = 0;
 
    uint32_t m_GloveId = UNINITIALISED_ID;
    uint32_t m_DongleId = UNINITIALISED_ID;
    HandType m_HandType = HandType::eHANDTYPE_INVALID;
 
    LessFrequentlySentData m_LowFrequencyData;
    ManusRawData m_Raw;
    ManusProcessedData m_Processed;
} GloveData;
 
typedef struct RetargetingSettings 
{
    // Hip
    float m_MatchSameSpeed = 0.0f;
    float m_HipHeightMultiplier = 1.0f;
    
    // Legs
    float m_LegWidth = 0.0f;
    float m_KneeRotation = 0.0f;
 
    // Arms
    float m_ShoulderForwardOffset = 0.0f;
    float m_ShoulderHeightOffset = 0.0f;
 
    float m_ShoulderForwardRotationMultiplier = 1.0f;
    float m_ShoulderHeightRotationMultiplier = 1.0f;
 
    float m_ElbowRotation = 0.0f;
    HandLocalTo m_HandLocalPosition = HandLocalTo::eHANDLOCALTO_ARMS;
    HandLocalTo m_HandLocalRotation = HandLocalTo::eHANDLOCALTO_ROOT;
 
    float m_ArmSpacing = 0.0f;
    float m_ArmLengthMultiplier = 1.0f;
    float m_ArmIK = 0.0f;
    bool m_HandRotationLocal = false;
 
    // HandIK
    float m_HandForwardOffset = 0.0f;
    float m_HandWidthOffset = 0.0f;
    float m_HandHeightOffset = 0.0f;
 
    float m_HandForwardMultiplier = 1.0f;
    float m_HandWidthMultiplier = 1.0f;
    float m_HandHeightMultiplier = 1.0f;
 
    // Spine
    float m_DefaultHipBend = 0.0f;
    float m_DefaultSpineBend = 0.0f;
    float m_DefaultNeckBend = 0.0f;
 
    float m_SpineBendMultiplier = 1.0f;
    float m_SpineAngleMultiplier = 1.0f;
    float m_SpineTwistMultiplier = 1.0f;
} RetargetingSettings;
 
typedef struct RetargetingSettingsArgs
{
    uint32_t m_ID = 0;
    RetargetingSettings m_Settings;
} RetargetingSettingsArgs;
 
typedef struct PolygonBone
{
    bool m_ContainsValidBoneData;
 
    ManusQuaternion m_Rotation;
    ManusVec3 m_Position;
    float m_Scale;
} PolygonBone;
 
typedef struct TargetSkeletonTarget
{
    char m_String[MAX_NUM_CHARS_IN_TARGET_ID];
 
} TargetSkeletonTarget;
 
typedef struct BodyEstimationTarget
{
    int32_t m_UserIndex;
} BodyEstimationTarget;
 
typedef struct PolygonTarget
{
    PolygonTargetCase m_TargetCase;
 
    TargetSkeletonTarget m_TargetSkeletonTarget;
 
    BodyEstimationTarget m_BodyEstimationTarget;
 
} PolygonTarget;
 
typedef struct PolygonTargetArgs 
{
    uint32_t m_SkeletonID;
    PolygonTarget m_Target;
} PolygonTargetArgs;
 
typedef struct PolygonSkeletonData
{
    int64_t m_LastUpdateTime = 0;
 
    uint32_t m_UserIndex = 0;
 
    uint32_t m_SkeletonId = 0;
 
    PolygonBone m_Bones[NUM_BONES_IN_POLYGON_SKELETON];
 
    bool m_ScaleToUser = false;
 
    float m_Height = 1.8f;
 
    PolygonTarget m_Target;
 
} PolygonSkeletonData;
 
typedef struct RemoveSkeletonArgs
{
    uint32_t m_SkeletonID;
} RemoveSkeletonArgs;
 
/******************************************************************************
 * Tracking
 *****************************************************************************/
 
typedef struct TrackerId
{
    char m_String[MAX_NUM_CHARS_IN_TRACKER_ID];
} TrackerId;
 
typedef struct TrackerData
{
    int64_t m_LastUpdateTime = 0;
 
    TrackerId m_TrackerId;
 
    int32_t m_UserIndex = 0;
 
    bool m_IsHmd = false;
    TrackerType_t m_Type = TrackerType::eTRACKERTYPE_UNKNOWN;
 
    ManusQuaternion m_Rotation;
    ManusVec3 m_Position;
} TrackerData;
 
typedef struct ManusHost
{
    char m_HostName[MAX_NUM_CHARS_IN_HOST_NAME];
    char m_IpAddress[MAX_NUM_CHARS_IN_IP_ADDRESS];
} ManusHost;
 
// Callbacks
typedef void(*ConnectedToCoreCallback_t)(void);
typedef void(*DisconnectedFromCoreCallback_t)(void);
 
#ifdef __cplusplus
} // extern "C"
#endif
 
// Close the Doxygen group.
#endif // #ifndef H_CORESDKWRAPPERTYPES