using System;
using RootMotion.FinalIK;
using UnityEngine;

[Serializable]
public class FABRIKCtrl : AIKCtrl
{
	public FABRIKCtrl(FullBodyIKMgr ik_mgr, FullBodyIKMgr.IKEffectorType effector_type) : base(ik_mgr, effector_type)
	{
		this.IK = base.constraintTarget.parent.gameObject.AddComponent<FABRIK>();
		this.IK.solver.target = base.constraintTarget;
		this.IK.fixTransforms = false;
		this.IK.solver.SetChain(this.ChainBones, this.ChainBones[0]);
		this.IK.enabled = false;
		for (int i = 0; i < this.ChainBones.Length - 1; i++)
		{
			Transform transform = this.ChainBones[i];
			Transform transform2 = base.chainBones[i + 1];
			this.BoneLengthSum += Vector3.Distance(transform.position, transform2.position);
		}
	}

	public override void OnPostFullBodySolverUpdate()
	{
		if (base.pointIKData.isIKExec)
		{
			if (base.pointIKData.isBlendNow)
			{
				float num = Vector3.Distance(this.ChainBones[0].position, base.constraintTarget.position);
				if (num > this.BoneLengthSum)
				{
					Vector3 a = this.ChainBones[0].position - base.constraintTarget.position;
					base.constraintTarget.position += a / num * (num - this.BoneLengthSum);
					float num2 = 1f - Mathf.Clamp01((num - this.BoneLengthSum) / this.BoneLengthSum);
					base.positionWeight *= num2;
				}
			}
			this.IK.solver.Update();
		}
		if (base.rotateIKData.isIKExec)
		{
			base.bone.rotation = Quaternion.Slerp(base.bone.rotation, base.constraintTarget.rotation, base.rotationWeight);
		}
	}

	protected override void OnPostSetPositionWeight(float val)
	{
		this.IK.solver.IKPositionWeight = val;
	}

	[SerializeField]
	protected FABRIK IK;

	protected readonly float BoneLengthSum;
}