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/*************************************************************************/
/* ik.h */
/* Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com> */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef IK_H
#define IK_H
#include "scene/3d/skeleton.h"
class InverseKinematics : public Spatial {
OBJ_TYPE(InverseKinematics, Spatial);
bool bound;
String ik_bone;
int ik_bone_no;
int tail_bone;
int chain_size;
Skeleton *skel;
List<int> chain;
void _check_bind();
void _check_unbind();
int iterations;
float precision;
float speed;
bool changed;
protected:
bool _set(const StringName& p_name, const Variant& p_value);
bool _get(const StringName& p_name,Variant &r_ret) const;
void _get_property_list( List<PropertyInfo> *p_list) const;
void _notification(int p_what);
static void _bind_methods();
void update_parameters();
public:
Skeleton *get_skeleton();
void set_bone_name(const String& p_name);
String get_bone_name() const;
void set_iterations(int itn);
int get_iterations() const;
void set_chain_size(int cs);
int get_chain_size() const;
void set_precision(float p);
float get_precision() const;
void set_speed(float p);
float get_speed() const;
InverseKinematics();
};
#endif
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