#ifndef IKENGINE_H
#define IKENGINE_H

#include "ikskeleton.h"

#undef DVAPI
#undef DVVAR
#ifdef TOONZLIB_EXPORTS
#define DVAPI DV_EXPORT_API
#define DVVAR DV_EXPORT_VAR
#else
#define DVAPI DV_IMPORT_API
#define DVVAR DV_IMPORT_VAR
#endif

class Jacobian;

class DVAPI IKEngine
{

	IKSkeleton m_skeleton;

public:
	IKEngine();

	// n.b. root index == 0
	void setRoot(const TPointD &pos);

	int addJoint(const TPointD &pos, int parentIndex);

	void lock(int index);
	void unlock(int index);

	bool isLocked(int index);

	void clear()
	{
		m_skeleton.clear();
		target.clear();
	}

	int getJointCount() const { return m_skeleton.getNodeCount(); }

	const TPointD getJoint(int index) const
	{
		assert(0 <= index && index < (int)m_skeleton.getNodeCount());
		TPointD jointPos = m_skeleton.getNode(index)->getPos();
		return jointPos;
	}

	int getJointParent(int index) const
	{
		assert(index > -1 && index < m_skeleton.getNodeCount());
		IKNode *node = m_skeleton.getNode(index)->getParent();
		return node ? node->getIndex() : -1;
	}

	double getJointAngle(int index);

	// trascino il punto index
	void drag(TPointD &pos);

private:
	std::vector<TPointD> target;
	void doUpdateStep(Jacobian &jacobian);
	void setSequenceJoints();
};

//#endif
#endif //IKENGINE_H