// Geometric Tools, Inc.
// http://www.geometrictools.com
// Copyright (c) 1998-2005.  All Rights Reserved
//
// The Wild Magic Library (WM3) source code is supplied under the terms of
// the license agreement
//     http://www.geometrictools.com/License/WildMagic3License.pdf
// and may not be copied or disclosed except in accordance with the terms
// of that agreement.

#ifndef INVERSEKINEMATICS_H
#define INVERSEKINEMATICS_H

#include "Wm3WindowApplication3.h"
using namespace Wm3;

class InverseKinematics : public WindowApplication3
{
    WM3_DECLARE_INITIALIZE;

public:
    InverseKinematics ();

    virtual bool OnInitialize ();
    virtual void OnTerminate ();
    virtual void OnIdle ();
    virtual bool OnKeyDown (unsigned char ucKey, int iX, int iY);
    virtual bool OnMotion (int iButton, int iX, int iY,
        unsigned int uiModifiers);

protected:
    TriMesh* CreateCube ();
    Polyline* CreateRod ();
    TriMesh* CreateGround ();
    void UpdateRod ();
    bool Transform (unsigned char ucKey);

    NodePtr m_spkScene, m_spkIKSystem, m_spkGoal, m_spkJoint0, m_spkJoint1;
    WireframeStatePtr m_spkWireframe;
    PolylinePtr m_spkRod;

private:
    void TestStream ();
};

WM3_REGISTER_INITIALIZE(InverseKinematics);

#endif



