text: //
  // Copyright (c) 2008-2016 the Urho3D project.
  //
  // 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.
  //
  
  #pragma once
  
  #include "../Scene/Component.h"
  
  struct ik_node_t;
  
  namespace Urho3D
  {
  
  class Context;
  class Node;
  
  class URHO3D_API IKConstraint : public Component
  {
      URHO3D_OBJECT(IKConstraint, Component)
  
  public:
  
      /// Constructs a new IK constraint.
      IKConstraint(Context* context);
  
      /// Destructs he IK constraint.
      virtual ~IKConstraint();
  
      /// Registers this class as an object factory.
      static void RegisterObject(Context* context);
  
      float GetStiffness() const;
      void SetStiffness(float stiffness);
  
      float GetStretchiness() const;
      void SetStretchiness(float stretchiness);
  
      const Vector2& GetLengthConstraints() const;
      void SetLengthConstraints(const Vector2& lengthConstraints);
  
  private:
      friend class IKSolver;
  
      /// Intended to be used only by IKSolver
      void SetIKNode(ik_node_t* effector);
  
      ik_node_t* ikNode_;
  
      float stiffness_;
      float stretchiness_;
      Vector2 lengthConstraints_;
  };
  
  } // namespace Urho3D
  