HOM_ik.h

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/*
 * PROPRIETARY INFORMATION.  This software is proprietary to
 * Side Effects Software Inc., and is not to be reproduced,
 * transmitted, or disclosed in any way without written permission.
*/

#ifndef __HOM_ik_h__
#define __HOM_ik_h__

#include "HOM_API.h"
#include "HOM_Module.h"
#include <string>
#include <vector>

class HOM_ik_Joint;
class HOM_ik_Skeleton;
class HOM_ik_Target;
class HOM_Matrix4;

SWIGOUT(%rename(ik) HOM_ik;)
class HOM_API HOM_ik
{
public:
    virtual ~HOM_ik() = default;

    virtual std::string __repr__() = 0;

    SWIGOUT(%kwargs solveFBIK;)
    virtual void solveFBIK(HOM_ik_Skeleton &skeleton,
                           const std::vector<HOM_ik_Target *> &targets,
                           int iters = 30,
                           double tolerance = SYS_Types<double>::tolerance(),
                           bool pin_root = false) = 0;

    SWIGOUT(%kwargs solvePhysFBIK;)
    virtual void solvePhysFBIK(
        HOM_ik_Skeleton &skeleton,
        const std::vector<HOM_ik_Target *> &targets,
        HOM_ik_Target *com_target = nullptr,
        int iters = 30,
        double damping = 0.5,
        double tolerance = SYS_Types<double>::tolerance()) = 0;

    virtual HOM_ik_Skeleton *_newSkeleton() = 0;
    virtual HOM_ik_Target *_newTarget(HOM_ik_Joint *joint,
                                      const HOM_Matrix4 &goal_transform,
                                      const HOM_Matrix4 &joint_offset,
                                      const HOM_EnumValue &target_type,
                                      double weight,
                                      int priority,
                                      int depth) = 0;
};

#endif