using System;
using RootMotion.FinalIK;
using UnityEngine;

[Serializable]
public class ElbowKneeIKCtrl : ALimbIKCtrl
{
	public ElbowKneeIKCtrl(FBIKChain chain, IKMappingLimb ik_mapping, FullBodyIKMgr ik_ctrl, FullBodyIKMgr.IKEffectorType effector_type) : base(ik_ctrl, chain, ik_mapping, effector_type)
	{
		this.chain.bendConstraint.bendGoal = base.constraintTarget;
		base.isUpperBody = (effector_type == FullBodyIKMgr.IKEffectorType.Forearm_L || effector_type == FullBodyIKMgr.IKEffectorType.Forearm_R);
		this.FABRIK = base.constraintTarget.parent.gameObject.AddComponent<FABRIK>();
		this.FABRIK.solver.SetChain(new Transform[]
		{
			base.chainBones[0],
			base.chainBones[1]
		}, base.chainBones[0]);
		this.FABRIK.solver.target = base.constraintTarget;
		this.FABRIK.enabled = false;
		if (!base.isUpperBody)
		{
			if (this.isLeft)
			{
				base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.Thigh_L);
			}
			else
			{
				base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.Thigh_R);
			}
		}
		else if (this.isLeft)
		{
			base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.UpperArm_L);
		}
		else
		{
			base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.UpperArm_R);
		}
	}

	public override bool isLeft
	{
		get
		{
			return this.effectorType == FullBodyIKMgr.IKEffectorType.Forearm_L || this.effectorType == FullBodyIKMgr.IKEffectorType.Calf_L;
		}
	}

	public override ALimbIKCtrl pairIK
	{
		get
		{
			FullBodyIKMgr.IKEffectorType effector_type;
			if (base.isUpperBody)
			{
				effector_type = ((!this.isLeft) ? FullBodyIKMgr.IKEffectorType.Forearm_L : FullBodyIKMgr.IKEffectorType.Forearm_R);
			}
			else
			{
				effector_type = ((!this.isLeft) ? FullBodyIKMgr.IKEffectorType.Calf_L : FullBodyIKMgr.IKEffectorType.Calf_R);
			}
			return this.myIKMgr.GetIKCtrl<ALimbIKCtrl>(effector_type);
		}
	}

	public ShoulderThighIKCtrl shoulderThighCtrl { get; private set; }

	public HandFootIKCtrl handFootCtrl { get; private set; }

	public void SetChain(HandFootIKCtrl handfoot_data, ShoulderThighIKCtrl shoulderthigh_data)
	{
		this.handFootCtrl = handfoot_data;
		this.ChainChildCtrl = handfoot_data;
		this.shoulderThighCtrl = shoulderthigh_data;
		this.ChainParentCtrl = shoulderthigh_data;
	}

	public override void TargetTransCpy()
	{
		base.TargetTransCpy();
		this.chain.bendConstraint.weight = 0f;
		this.FABRIK.solver.IKPositionWeight = 0f;
	}

	public override void ApplyIKSetting()
	{
		this.BoneLocalRot = base.bone.localRotation;
		this.HandFootLocalRot = this.handFootCtrl.bone.localRotation;
		base.ApplyIKSetting();
	}

	protected override void SetTargetTransform(AIKCtrl.IKSettingData data, Vector3 pos, Quaternion rot)
	{
		base.SetTargetTransform(data, pos, rot);
		Vector3 vector = this.shoulderThighCtrl.bone.InverseTransformPoint(base.bone.position);
		Transform constraintTarget = this.shoulderThighCtrl.constraintTarget;
		if (data.isPointAttach)
		{
			constraintTarget.rotation = Quaternion.FromToRotation(base.bone.position - constraintTarget.position, base.constraintTarget.position - constraintTarget.position) * constraintTarget.rotation;
			if (!this.shoulderThighCtrl.pointIKData.isIKExecNotWeight0)
			{
				this.shoulderThighCtrl.positionWeight = Mathf.Max(base.positionWeight, this.shoulderThighCtrl.positionWeight);
				Vector3 position = base.bone.InverseTransformPoint(this.shoulderThighCtrl.bone.position);
				constraintTarget.position = base.constraintTarget.TransformPoint(position);
			}
		}
		else
		{
			Vector3 axis = base.constraintTarget.position - constraintTarget.position;
			Quaternion rotation = base.constraintTarget.rotation;
			Vector3 lhs = rotation * Vector3.forward;
			Vector3 rhs = base.bone.rotation * Vector3.forward;
			float f = Vector3.Dot(lhs, rhs);
			float num = Mathf.Acos(f) * 57.29578f;
			if (float.IsNaN(num))
			{
				num = 0f;
			}
			constraintTarget.rotation = Quaternion.AngleAxis(num, axis) * constraintTarget.rotation;
		}
	}

	protected override void DoPlaneCorrect(Vector3 normal)
	{
		base.DoPlaneCorrect(normal);
		if (this.correctType == ALimbIKCtrl.BorderCorrectType.HalfBody)
		{
			Transform constraintTarget = this.shoulderThighCtrl.constraintTarget;
			constraintTarget.position += normal;
			if (!this.shoulderThighCtrl.pointIKData.isIKExec)
			{
				this.shoulderThighCtrl.positionWeight = base.positionWeight;
			}
		}
	}

	public override void OnPostFullBodySolverUpdate()
	{
		if (!base.isIKExec || this.handFootCtrl.isIKExecNotWeight0)
		{
			base.OnPostFullBodySolverUpdate();
			return;
		}
		if (base.rotateIKData.isIKExec)
		{
			this.shoulderThighCtrl.bone.rotation = Quaternion.Slerp(this.shoulderThighCtrl.bone.rotation, this.shoulderThighCtrl.constraintTarget.rotation, base.rotationWeight);
			base.bone.localRotation = this.BoneLocalRot;
			this.handFootCtrl.bone.localRotation = this.HandFootLocalRot;
		}
		Quaternion rotation = base.bone.rotation;
		if (base.pointIKData.isIKExec)
		{
			this.FABRIK.solver.Update();
			base.bone.rotation = rotation;
		}
		base.OnPostFullBodySolverUpdate();
	}

	protected override void OnPostSetPositionWeight(float val)
	{
		if (this.IsPullBody)
		{
			this.chain.bendConstraint.weight = val;
		}
		this.FABRIK.solver.IKPositionWeight = val;
	}

	private FABRIK FABRIK;

	private Quaternion HandFootLocalRot = Quaternion.identity;

	private Quaternion BoneLocalRot = Quaternion.identity;
}