#ifndef SKELETON_MODIFICATION_3D_CCDIK_H
#define SKELETON_MODIFICATION_3D_CCDIK_H

/*************************************************************************/
/*  skeleton_modification_3d_ccdik.h                                     */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
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/* "Software"), to deal in the Software without restriction, including   */
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/* 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,       */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/*************************************************************************/

#include "core/containers/local_vector.h"
#include "../nodes/skeleton.h"
#include "skeleton_modification_3d.h"

class SkeletonModification3DCCDIK : public SkeletonModification3D {
	GDCLASS(SkeletonModification3DCCDIK, SkeletonModification3D);

private:
	enum CCDIK_Axes {
		AXIS_X,
		AXIS_Y,
		AXIS_Z
	};

	struct CCDIK_Joint_Data {
		String bone_name;
		int bone_idx;
		int ccdik_axis;

		bool enable_constraint;
		real_t constraint_angle_min;
		real_t constraint_angle_max;
		bool constraint_angles_invert;

		CCDIK_Joint_Data() {
			bone_idx = -1;
			ccdik_axis = 0;

			enable_constraint = false;
			constraint_angle_min = 0;
			constraint_angle_max = (2.0 * Math_PI);
			constraint_angles_invert = false;
		}
	};

	LocalVector<CCDIK_Joint_Data> ccdik_data_chain;
	NodePath target_node;
	ObjectID target_node_cache;

	NodePath tip_node;
	ObjectID tip_node_cache;

	bool use_high_quality_solve;

	void update_target_cache();
	void update_tip_cache();

	void _execute_ccdik_joint(int p_joint_idx, Spatial *p_target, Spatial *p_tip);

protected:
	static void _bind_methods();
	bool _get(const StringName &p_path, Variant &r_ret) const;
	bool _set(const StringName &p_path, const Variant &p_value);
	void _get_property_list(List<PropertyInfo> *p_list) const;

public:
	virtual void _execute(real_t p_delta);
	virtual void _setup_modification(Ref<SkeletonModificationStack3D> p_stack);

	void set_target_node(const NodePath &p_target_node);
	NodePath get_target_node() const;

	void set_tip_node(const NodePath &p_tip_node);
	NodePath get_tip_node() const;

	void set_use_high_quality_solve(bool p_solve);
	bool get_use_high_quality_solve() const;

	String get_ccdik_joint_bone_name(int p_joint_idx) const;
	void set_ccdik_joint_bone_name(int p_joint_idx, String p_bone_name);
	int get_ccdik_joint_bone_index(int p_joint_idx) const;
	void set_ccdik_joint_bone_index(int p_joint_idx, int p_bone_idx);
	int get_ccdik_joint_ccdik_axis(int p_joint_idx) const;
	void set_ccdik_joint_ccdik_axis(int p_joint_idx, int p_axis);
	bool get_ccdik_joint_enable_constraint(int p_joint_idx) const;
	void set_ccdik_joint_enable_constraint(int p_joint_idx, bool p_enable);
	real_t get_ccdik_joint_constraint_angle_min(int p_joint_idx) const;
	void set_ccdik_joint_constraint_angle_min(int p_joint_idx, real_t p_angle_min);
	real_t get_ccdik_joint_constraint_angle_max(int p_joint_idx) const;
	void set_ccdik_joint_constraint_angle_max(int p_joint_idx, real_t p_angle_max);
	bool get_ccdik_joint_constraint_invert(int p_joint_idx) const;
	void set_ccdik_joint_constraint_invert(int p_joint_idx, bool p_invert);

	int get_ccdik_data_chain_length();
	void set_ccdik_data_chain_length(int p_new_length);

	SkeletonModification3DCCDIK();
	~SkeletonModification3DCCDIK();
};

#endif // SKELETON_MODIFICATION_3D_CCDIK_H