#ifndef _MPxIkSolverNode
#define _MPxIkSolverNode
//-
// ==========================================================================
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//+
//
// CLASS:    MPxIkSolverNode
//
// ****************************************************************************

#if defined __cplusplus

// ****************************************************************************
// INCLUDED HEADER FILES


#include <maya/MStatus.h>
#include <maya/MTypes.h>
#include <maya/MObject.h>
#include <maya/MPxNode.h>

// ****************************************************************************
// DECLARATIONS

class MString;
class MArgList;
class MIkHandleGroup;
class MMatrix;
class MDoubleArray;

// ****************************************************************************
// CLASS DECLARATION (MPxIkSolverNode)

//! \ingroup OpenMayaAnim MPx
//! \brief Base class for user defined IK solvers  
/*!
This is the base class for writing user-defined IK solvers.
Users must at least override the following methods in order to write a solver:

	\li <b>doSolve</b>
	\li <b>solverTypeName</b>

Note that the following virtual methods (declared in MPxNode) are
irrelevant for the MPxIkSolverNode. If these methods are overridden in
a class derived from MPxIkSolverNode, they will be ignored.

	\li <b>compute</b>
	\li <b>getInternalValue</b>
	\li <b>setInternalValue</b>
	\li <b>legalConnection</b>
	\li <b>legalDisconnection</b>
	\li <b>connectionMade</b>
	\li <b>connectionBroken</b>


A creator method is necessary to return an instance of the
user solver:

\code
    userSolver::creator() {
        return new userSolver;
    }
\endcode

In order to create and register the solver, execute the mel command:
\code
    createNode userSolver;
\endcode

Once the solver is registered it can be assigned to IK handles and its
solve methods will be called in the same manner as the solvers within
Maya.
*/
class OPENMAYAANIM_EXPORT MPxIkSolverNode : public MPxNode
{
public:
	virtual ~MPxIkSolverNode();
	virtual MPxNode::Type type() const;

	virtual MStatus		preSolve();
	virtual MStatus		doSolve();
	virtual MStatus		postSolve( MStatus );

	virtual MString		solverTypeName() const;

	bool				rotatePlane(MStatus *ReturnStatus = NULL) const;
	MStatus				setRotatePlane(bool rotatePlane);
	bool				singleChainOnly(MStatus *ReturnStatus = NULL) const;
	MStatus				setSingleChainOnly(bool singleChainOnly);
	bool				positionOnly(MStatus *ReturnStatus = NULL) const;
	MStatus				setPositionOnly(bool positionOnly);
	bool				supportJointLimits(MStatus *ReturnStatus = NULL) const;
	MStatus				setSupportJointLimits(bool supportJointLimits);
	bool				uniqueSolution(MStatus *ReturnStatus = NULL) const;
	MStatus				setUniqueSolution(bool uniqueSolution);

	// Obsolete
	virtual bool		isSingleChainOnly() const;
	// Obsolete
	virtual bool		isPositionOnly() const;
	// Obsolete
	virtual bool		hasJointLimitSupport() const;
	// Obsolete
	virtual bool		hasUniqueSolution() const;
	// Obsolete
	virtual bool		groupHandlesByTopology() const;

	virtual MStatus		setFuncValueTolerance( double tolerance );
	virtual MStatus		setMaxIterations( int value );

	MIkHandleGroup * 	handleGroup() const;
	virtual void 		setHandleGroup( MIkHandleGroup* );
	const MMatrix *		toWorldSpace() const;
	const MMatrix *		toSolverSpace() const;
	double 				funcValueTolerance() const;
	int 				maxIterations() const;
	virtual void 		snapHandle( MObject& handle );

	void				create();

	// SCRIPT USE ONLY
	MStatus _getJointAngles( MDoubleArray& da ) const 
		{return getJointAngles(da);}
	MStatus	_setJointAngles( const MDoubleArray& da ) 
		{return setJointAngles(da);}
	void _setToRestAngles() 
		{ setToRestAngles(); }
	//

	static const char*	className();

protected:

	// USE _getJointAngles() IN SCRIPT	
	MStatus				getJointAngles( MDoubleArray& ) const;
	// USE _setJointAngles() IN SCRIPT	
	MStatus				setJointAngles( const MDoubleArray& );
	// USE _setToRestAngles() IN SCRIPT	
	void				setToRestAngles();

	MPxIkSolverNode();

private:
};

#endif /* __cplusplus */
#endif /* _MPxIkSolverNode */