using System;
using System.Collections.Generic;
using UnityEngine;

[Serializable]
public class IKMgrData
{
	public TBody Body { get; private set; }

	public Transform KinematicTgt
	{
		get
		{
			return this.m_KinematicTgt;
		}
	}

	public IKMgrData.IKParam PointIK
	{
		get
		{
			return this.m_PointIK;
		}
	}

	public IKMgrData.IKParam RotateIK
	{
		get
		{
			return this.m_RotateIK;
		}
	}

	public TBody.IKCMO IKCmo
	{
		get
		{
			return this.m_IKCmo;
		}
	}

	public bool IsIkExec
	{
		get
		{
			return this.PointIK.IsIKExec || this.RotateIK.IsIKExec;
		}
	}

	private void IkCmoPorc(Vector3 tgt, Vector3 vechand_offset)
	{
		if (this.m_KinematicList.Count < 3)
		{
			return;
		}
		for (int i = 0; i < 3; i++)
		{
			this.IKCmo.Porc(this.m_KinematicList[2], this.m_KinematicList[1], this.m_KinematicList[0], tgt, vechand_offset);
		}
	}

	private void TransratePoint(Vector3 tgt_pos, Quaternion tgt_rot, Vector3 tgt_offset)
	{
		Vector3 vector = tgt_pos + tgt_rot * tgt_offset;
		Debug.DrawLine(tgt_pos, vector, Color.white);
		for (int i = 0; i < 5; i++)
		{
			Vector3 a = vector;
			if (this.m_AttachPointData != null)
			{
				Vector3 normalized = (this.KinematicTgt.position - this.KinematicTgt.parent.position).normalized;
				float d = Vector3.Dot(this.m_AttachPointData.AttachTrans.position - this.KinematicTgt.position, normalized);
				a += this.KinematicTgt.position + normalized * d - this.m_AttachPointData.AttachTrans.position;
			}
			for (int j = 1; j < this.m_KinematicList.Count; j++)
			{
				bool flag = j + 1 < this.m_KinematicList.Count;
				Vector3 vector2 = Vector3.zero;
				if (flag)
				{
					Quaternion rotation = Quaternion.FromToRotation(this.m_KinematicList[j - 1].position - this.m_KinematicList[j].position, a - this.m_KinematicList[j].position) * this.m_KinematicList[j].rotation;
					Vector3 point = this.m_KinematicList[j].InverseTransformPoint(this.m_KinematicList[j - 1].position);
					Vector3 b = this.m_KinematicList[j].position + rotation * point;
					vector2 = this.m_KinematicList[j].position + (a - b);
					this.m_KinematicList[j + 1].rotation = Quaternion.FromToRotation(this.m_KinematicList[j].position - this.m_KinematicList[j + 1].position, vector2 - this.m_KinematicList[j + 1].position) * this.m_KinematicList[j + 1].rotation;
				}
				this.m_KinematicList[j].rotation = Quaternion.FromToRotation(this.m_KinematicList[j - 1].position - this.m_KinematicList[j].position, a - this.m_KinematicList[j].position) * this.m_KinematicList[j].rotation;
				if (flag)
				{
					a = vector2;
				}
			}
			for (int k = this.m_KinematicList.Count - 1; k > 0; k--)
			{
				Debug.DrawLine(this.m_KinematicList[k].position, this.m_KinematicList[k - 1].position, Color.Lerp(Color.red, Color.yellow, (float)i / 4f));
			}
			if (this.m_AttachPointData != null)
			{
				Debug.DrawLine(this.KinematicTgt.position, this.m_AttachPointData.AttachTrans.position, Color.Lerp(Color.red, Color.yellow, (float)i / 4f));
			}
		}
	}

	private void TransratePoint(Transform tgt, Vector3 tgt_offset)
	{
		this.TransratePoint(tgt.position, tgt.rotation, tgt_offset);
	}

	private void ConstraintRot(Quaternion tgt_rot, Vector3 tgt_offset)
	{
		this.KinematicTgt.rotation = tgt_rot * Quaternion.Euler(tgt_offset);
	}

	private void ApplyIKSetting(IKMgrData.IKParam data)
	{
		if (this.IsExecLate)
		{
			return;
		}
		if (data.TgtMaid && data.TgtMaid != this.Body.maid && !data.TgtMaid.body0.LateUpdateEnd)
		{
			TBody body = data.TgtMaid.body0;
			body.OnLateUpdateEnd = (Action)Delegate.Combine(body.OnLateUpdateEnd, new Action(this.AfterExec));
			data.IsIKExec = false;
			this.IsExecLate = true;
			return;
		}
		data.IsIKExec = true;
		if (data.Target != null)
		{
			Vector3 position = data.Target.position;
			Quaternion rotation = data.Target.rotation;
			switch (data.MyType)
			{
			case IKMgrData.IKAttachType.Point:
				Debug.DrawLine(position, position + rotation * Vector3.forward * 0.2f, Color.cyan);
				this.IkCmoPorc(position, data.TgtOffset);
				break;
			case IKMgrData.IKAttachType.Rotate:
				this.ConstraintRot(rotation, data.TgtOffset);
				break;
			case IKMgrData.IKAttachType.NewPoint:
				this.TransratePoint(data.Target, data.TgtOffset);
				break;
			}
			if (data.IsTgtAxis)
			{
				KasaiUtility.DrawAxis(position, rotation, 0.125f);
			}
		}
		else if (data.Tgt_AttachName != string.Empty)
		{
			if (this.Body.goSlot[data.Tgt_AttachSlot].morph != null)
			{
				if (data.TgtMaid != null && data.TgtMaid.body0 != null)
				{
					Vector3 vector;
					Quaternion rotation2;
					Vector3 vector2;
					data.TgtMaid.body0.goSlot[data.Tgt_AttachSlot].morph.GetAttachPoint(data.Tgt_AttachName, out vector, out rotation2, out vector2, false);
					switch (data.MyType)
					{
					case IKMgrData.IKAttachType.Point:
						Debug.DrawLine(vector, vector + rotation2 * Vector3.forward * 0.2f, Color.blue);
						this.IkCmoPorc(vector, data.TgtOffset);
						break;
					case IKMgrData.IKAttachType.Rotate:
						this.ConstraintRot(rotation2, data.TgtOffset);
						break;
					case IKMgrData.IKAttachType.NewPoint:
						if (data.AxisTgt)
						{
							rotation2 = data.AxisTgt.rotation;
						}
						this.TransratePoint(vector, rotation2, data.TgtOffset);
						break;
					}
					if (data.IsTgtAxis)
					{
						KasaiUtility.DrawAxis(vector, rotation2, 0.125f);
					}
				}
				else
				{
					data.IsIKExec = false;
					data.Tgt_AttachName = string.Empty;
				}
			}
		}
		else
		{
			data.IsIKExec = false;
		}
	}

	private void AfterExec()
	{
		this.IKExec();
		if (!this.Body.IKExecLate)
		{
			this.Body.AutoTwist();
			for (int i = 0; i < this.Body.goSlot.Count; i++)
			{
				if (this.Body.goSlot[i].obj != null)
				{
					this.Body.goSlot[i].CopyTrans();
				}
				this.Body.goSlot[i].Update();
			}
		}
	}

	public void SetKinematicTgt(Transform tgt, TBody body, int weight = 3)
	{
		this.m_KinematicTgt = tgt;
		this.Body = body;
		this.m_KinematicList.Clear();
		int num = 0;
		Transform transform = tgt;
		while (num != weight)
		{
			this.m_KinematicList.Add(transform);
			Transform parent = transform.parent;
			if (!parent)
			{
				Debug.LogWarningFormat("IKのウェイトが大きすぎます：{0}", new object[]
				{
					weight
				});
				break;
			}
			transform = parent;
			num++;
		}
	}

	public void IkCmoInit(TBody body)
	{
		if (this.m_KinematicList.Count < 3)
		{
			return;
		}
		this.IKCmo.Init(this.m_KinematicList[2], this.m_KinematicList[1], this.m_KinematicList[0], body);
	}

	public IKMgrData.IKParam GetIKParam(IKMgrData.IKAttachType attach_type)
	{
		if (attach_type == IKMgrData.IKAttachType.Rotate)
		{
			return this.RotateIK;
		}
		return this.PointIK;
	}

	public void IKExec()
	{
		this.IsExecLate = false;
		this.ApplyIKSetting(this.PointIK);
		this.ApplyIKSetting(this.RotateIK);
		if (this.IsIkExec && !this.IsExecLate)
		{
			if (this.m_AttachPointData != null)
			{
				KasaiUtility.DrawObjAxis(this.m_AttachPointData.AttachTrans, 0.0625f);
			}
			else
			{
				KasaiUtility.DrawObjAxis(this.KinematicTgt, 0.0625f);
			}
			if (!this.PointIK.IsIKExec)
			{
				for (int i = this.m_KinematicList.Count - 1; i > 0; i--)
				{
					Debug.DrawLine(this.m_KinematicList[i].position, this.m_KinematicList[i - 1].position, Color.cyan);
				}
				if (this.m_AttachPointData != null)
				{
					Debug.DrawLine(this.KinematicTgt.position, this.m_AttachPointData.AttachTrans.position, Color.cyan);
				}
			}
		}
	}

	public Transform CreateAttachPointObj(string obj_name, Transform parent, TBody body, string slot_name, string attach_name)
	{
		if (this.m_AttachPointData != null && this.m_AttachPointData.AttachTrans)
		{
			return this.m_AttachPointData.AttachTrans;
		}
		GameObject gameObject = new GameObject(obj_name);
		gameObject.transform.SetParent(parent, false);
		this.m_AttachPointData = new IKMgrData.AttachPointIKData();
		this.m_AttachPointData.AttachTrans = gameObject.transform;
		this.m_AttachPointData.Tbody = body;
		this.m_AttachPointData.AttachName = attach_name;
		this.m_AttachPointData.SlotName = slot_name;
		return gameObject.transform;
	}

	public void SyncAttachPoint()
	{
		if (this.m_AttachPointData == null || !this.m_AttachPointData.AttachTrans)
		{
			return;
		}
		int slotNo = this.m_AttachPointData.Tbody.GetSlotNo(this.m_AttachPointData.SlotName);
		if (slotNo < 0 || slotNo >= this.m_AttachPointData.Tbody.goSlot.Count)
		{
			Debug.LogErrorFormat("スロット{0}は存在しません", new object[]
			{
				this.m_AttachPointData.SlotName
			});
			return;
		}
		Vector3 position;
		Quaternion rotation;
		Vector3 localScale;
		this.m_AttachPointData.Tbody.goSlot[slotNo].morph.GetAttachPoint(this.m_AttachPointData.AttachName, out position, out rotation, out localScale, false);
		this.m_AttachPointData.AttachTrans.position = position;
		this.m_AttachPointData.AttachTrans.rotation = rotation;
		this.m_AttachPointData.AttachTrans.localScale = localScale;
	}

	private const int m_CorrectNum = 5;

	[SerializeField]
	private List<Transform> m_KinematicList = new List<Transform>();

	[SerializeField]
	private Transform m_KinematicTgt;

	[SerializeField]
	private IKMgrData.IKParam m_PointIK = new IKMgrData.IKParam(IKMgrData.IKAttachType.NewPoint);

	[SerializeField]
	private IKMgrData.IKParam m_RotateIK = new IKMgrData.IKParam(IKMgrData.IKAttachType.Rotate);

	private TBody.IKCMO m_IKCmo = new TBody.IKCMO();

	private IKMgrData.AttachPointIKData m_AttachPointData;

	public bool IsExecLate;

	public enum IKAttachType
	{
		Point,
		Rotate,
		NewPoint
	}

	[Serializable]
	public class IKParam
	{
		public IKParam(IKMgrData.IKAttachType type)
		{
			this.MyType = type;
		}

		public IKMgrData.IKAttachType MyType { get; private set; }

		public void ChangePointType(IKMgrData.IKAttachType type)
		{
			if (this.MyType == IKMgrData.IKAttachType.Rotate)
			{
				return;
			}
			this.MyType = type;
		}

		public bool IsPointAttach
		{
			get
			{
				return this.MyType != IKMgrData.IKAttachType.Rotate;
			}
		}

		public Transform Target;

		public Vector3 TgtOffset;

		public int Tgt_AttachSlot = -1;

		public string Tgt_AttachName = string.Empty;

		public Maid TgtMaid;

		public bool IsTgtAxis;

		public bool IsIKExec;

		public Transform AxisTgt;
	}

	private class AttachPointIKData
	{
		public Transform AttachTrans;

		public TBody Tbody;

		public string SlotName = string.Empty;

		public string AttachName = string.Empty;
	}
}