import { V2, Solve2D } from 'inverse-kinematics'

// Create a list of 'links'
// Three links, of 50 units long, all pointing in the same direction
const bones: Solve2D.Link[] = [
  { rotation: 0, length: 50 },
  { rotation: 0, length: 50 },
  { rotation: 0, length: 50 },
]

// Define the base of the links
const base: Solve2D.JointTransform = { position: [0, 0], rotation: 0 }

// Define a target for the 'end effector' or the tip of the last link to move to
const target: V2 = [50, 50]

// Iterate until the error is within acceptable range
const acceptedError = 10
function loop() {
  const error = Solve2D.getErrorDistance(bones, base, target)
  if (error < acceptedError) return

  Solve2D.solve(bones, base.position, target)
  setTimeout(loop, 100)
  console.log(error.toFixed(0))
}
loop()