$#include "IK/IKSolver.h"

class IKSolver : public Component
{
    enum Algorithm
    {
        FABRIK
    };

    Algorithm GetAlgorithm() const;
    void SetAlgorithm(Algorithm algorithm);
    unsigned GetMaximumIterations() const;
    void SetMaximumIterations(unsigned iterations);
    float GetTolerance() const;
    void SetTolerance(float tolerance);

    bool BoneRotationsEnabled() const;
    void EnableBoneRotations(bool enable);

    bool TargetRotationEnabled() const;
    void EnableTargetRotation(bool enable);

    bool ContinuousSolvingEnabled() const;
    void EnableContinuousSolving(bool enable);

    bool UpdatePoseEnabled() const;
    void EnableUpdatePose(bool enable);

    bool AutoSolveEnabled() const;
    void EnableAutoSolve(bool enable);

    void Solve();
    void ResetToInitialPose();
    void UpdateInitialPose();

    void MarkSolverTreeDirty();
    void DrawDebugGeometry(bool depthTest);

    tolua_property__get_set Algorithm algorithm;
    tolua_property__get_set unsigned maximumIterations;
    tolua_property__get_set float tolerance;
};