$#include "IK/IKSolver.h"

class IKSolver : public Component
{
    enum Algorithm
    {
        ONE_BONE = 0,
        TWO_BONE,
        FABRIK
    };

    enum Feature
    {
        JOINT_ROTATIONS = 0x01,
        TARGET_ROTATIONS = 0x02,
        UPDATE_ORIGINAL_POSE = 0x04,
        UPDATE_ACTIVE_POSE = 0x08,
        USE_ORIGINAL_POSE = 0x10,
        CONSTRAINTS = 0x20,
        AUTO_SOLVE = 0x40
    };

    void RebuildChainTrees();
    void RecalculateSegmentLengths();
    void CalculateJointRotations();
    void Solve();

    void ApplyOriginalPoseToScene();
    void ApplySceneToOriginalPose();
    void ApplyActivePoseToScene();
    void ApplySceneToActivePose();
    void ApplyOriginalPoseToActivePose();

    void DrawDebugGeometry(bool depthTest);

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

    tolua_property__get_set bool JOINT_ROTATIONS;
    tolua_property__get_set bool TARGET_ROTATIONS;
    tolua_property__get_set bool UPDATE_ORIGINAL_POSE;
    tolua_property__get_set bool UPDATE_ACTIVE_POSE;
    tolua_property__get_set bool USE_ORIGINAL_POSE;
    tolua_property__get_set bool CONSTRAINTS;
    tolua_property__get_set bool AUTO_SOLVE;
};