#ifndef IKNODE_H
#define IKNODE_H

#include <math.h>
#include <assert.h>
#include "tgeometry.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 DVAPI IKNode
{
public:
	enum Purpose { JOINT,
				   EFFECTOR };

	IKNode() : m_parent(0), m_pos()
	{
		r = TPointD(0.0, 1.0); // r sara' aggiornato quando il nodo sara; inserito nello skeleton
		theta = 0.0;
		m_parent = 0;
	}

	void setParent(IKNode *parent) { m_parent = parent; }
	void setRealParent(IKNode *realParent) { m_parent = realParent; }

	void setTheta(double newTheta) { theta = newTheta; }
	void setTheta0(double newTheta) { theta0 = newTheta; }

	void setIndex(int index) { m_index = index; }
	int getIndex() const { return m_index; }

	IKNode *getParent() const { return m_parent; }

	Purpose getPurpose() { return m_purpose; }

	void setPos(const TPointD &pos) { m_pos = pos; }
	TPointD getPos() const { return m_pos; }
	void setPurpose(Purpose purpose);

	void setSeqNumJoint(int number) { m_seqNumJoint = number; }
	void setSeqNumEffector(int number) { m_seqNumEffector = number; }

	int getEffectorNum() const { return m_seqNumEffector; }
	int getJointNum() const { return m_seqNumJoint; }

	double getTheta() const { return theta; }
	double getTheta0() const { return theta0; }

	bool IsEffector() const { return m_purpose == EFFECTOR; }
	bool IsJoint() const { return m_purpose == JOINT; }

	const TPointD &GetS() const { return s; }

	void setR(TPointD pos) { r = pos; }
	void setS(TPointD pos) { s = pos; }

	void computeS(void);

	double AddToTheta(double delta)
	{
		theta += delta;
		return theta;
	}

	bool isFrozen() const { return freezed; }
	void freeze() { freezed = true; } // mantiene l'angolo theta costante
	void unFreeze() { freezed = false; }

private:
	int m_index;
	IKNode *m_parent;

	TPointD m_pos;
	Purpose m_purpose;
	int m_seqNumJoint;	// indice del Joint nella sequenza di Joint
	int m_seqNumEffector; // indice dell'Effector nella sequenza di Effectors

	TPointD r; // Posizione relativa
	TPointD s; // Posizione Globale
	//TPointD w; // Rotazione Globale dell'asse

	double theta;	 // angolo del joint (radianti)
	double theta0;	// angolo iniziale del joint (radianti)
	double minTheta;  // limite inferiore angolo
	double maxTheta;  // limite superiore angolo
	double restAngle; // angolo esplementare

	bool freezed; // Se vero l'angolo è blocccato
};

#endif IKNODE_H