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float lx = TargetX - dbObjectPositionX(object),
      ly = TargetY - dbObjectPositionY(object),
      lz = TargetZ - dbObjectPositionZ(object);

dbOffsetLimb ( object, limb, lx, ly, lz );

// Test app - Main.cpp

#include "DarkGDK.h"

int ScreenWidth = 800, ScreenHeight = 600, ScreenDepth = 32;
float DebugCamSpeed = 0.1f;
int object = 10, target = 20;

// functions
void DebugInput ( );
void DebugOutput ( );
int limb ( int id, char * name );

// main entry point
void DarkGDK ( void )
{
	// setup
	dbSyncOn   ( );
	dbSyncRate ( 0 );
	dbHideMouse ( );
	dbSetWindowPosition ( 0, 0 );
	dbSetWindowTitle ( "Test" );
	dbSetDisplayModeVSync ( ScreenWidth, ScreenHeight, ScreenDepth, 0 );
	dbMaximizeWindow ( );
	dbColorBackdrop ( 0 );
	dbBackdropOn ( );
	dbAutoCamOff ( );
	dbPositionCamera ( 5, 7, -20 );

	// model
	dbLoadObject ( "DemoMan.x", object );

	// target
	float tx = 10, ty = 10, tz = 10;

	dbMakeObjectCube ( target, 0.5f );
	dbPositionObject ( target, tx, ty, tz );

	// limb
	int hand = limb(object,"handR");

	float	lx = dbLimbPositionX ( object, hand ),
			ly = dbLimbPositionY ( object, hand ),
			lz = dbLimbPositionZ ( object, hand );

	// offset
	float	ox = tx - lx,
			oy = ty - ly,
			oz = tz - lz;

	dbOffsetLimb ( object, hand, ox, oy, oz );

	while ( LoopGDK ( ) )
	{
		// print data
		dbSetCursor ( 0, 0 );
		dbPrint ( "- TARGET -" );
		dbPrint ( tx );
		dbPrint ( ty );
		dbPrint ( tz );
		dbPrint ( "- LIMB -" );
		dbPrint ( lx );
		dbPrint ( ly );
		dbPrint ( lz );
		dbPrint ( "- OFFSET -" );
		dbPrint ( ox );
		dbPrint ( oy );
		dbPrint ( oz );
		dbPrint ( "- NEW POS. -" );
		dbPrint ( dbLimbPositionX(object,hand) );
		dbPrint ( dbLimbPositionY(object,hand) );
		dbPrint ( dbLimbPositionZ(object,hand) );

		// debug
		DebugInput ( );
		DebugOutput ( );

		// update screen
		dbSync ( );
	}

	// return to windows
	return;
}

// debug functions
void DebugInput ( )
{
	float	cx = dbCameraPositionX(),
			cy = dbCameraPositionY(),
			cz = dbCameraPositionZ(),
			cax = dbCameraAngleX(),
			cay = dbCameraAngleY(),
			caz = dbCameraAngleZ();
	cax += dbMouseMoveY();
	cay += dbMouseMoveX();
	if ( cax > 80 ) cax = 80;
	if ( cax < -80 ) cax = -80;
	dbPositionCamera ( cx, cy, cz );
	dbRotateCamera ( cax, cay, caz );
	if ( dbKeyState ( 17 ) )
		dbMoveCamera ( DebugCamSpeed );
	if ( dbKeyState ( 31 ) )
		dbMoveCamera ( -DebugCamSpeed );
}
void DebugOutput ( )
{
	dbInk ( dbRGB ( 255, 0, 0 ), 0 );
	dbSetCursor ( ScreenWidth / 2, 0 );
	dbPrint ( dbStr ( dbScreenFPS() ) );
}
// get limb id
int limb ( int id, char * name )
{
	int out = -1;
	for ( int i = 0; i < 1000; i++ )
		if ( dbLimbExist ( id, i ) )
			if ( !strcmp( dbLimbName ( id, i ), name ) )
			{
				out = i;
				break;
			}
	return out;
}