using System;
using System.Collections.Generic;
using kt.Physics;
using kt.Utility;
using RootMotion.FinalIK;
using UnityEngine;

[Serializable]
public class HandFootIKCtrl : ALimbIKCtrl
{
	public HandFootIKCtrl(IKEffector effector, FBIKChain chain, IKMappingLimb ik_mapping, FullBodyIKMgr ik_ctrl, FullBodyIKMgr.IKEffectorType effector_type) : base(ik_ctrl, chain, ik_mapping, effector_type)
	{
		this.effector = effector;
		this.effector.target = base.constraintTarget;
		base.isUpperBody = (effector_type == FullBodyIKMgr.IKEffectorType.Hand_L || effector_type == FullBodyIKMgr.IKEffectorType.Hand_R);
		this.NoPullBodyIK = base.constraintTarget.parent.gameObject.AddComponent<LimbIK>();
		this.NoPullBodyIK.solver.SetChain(base.chainBones[0], base.chainBones[1], base.chainBones[2], base.chainBones[0]);
		this.NoPullBodyIK.solver.target = base.constraintTarget;
		this.NoPullBodyIK.solver.bendModifier = IKSolverLimb.BendModifier.Goal;
		this.NoPullBodyIK.solver.maintainRotationWeight = ik_mapping.maintainRotationWeight;
		this.NoPullBodyIK.enabled = false;
		switch (effector_type)
		{
		case FullBodyIKMgr.IKEffectorType.Hand_R:
			this.NoPullBodyIK.solver.goal = AvatarIKGoal.RightHand;
			break;
		default:
			switch (effector_type)
			{
			case FullBodyIKMgr.IKEffectorType.Foot_R:
				this.NoPullBodyIK.solver.goal = AvatarIKGoal.RightFoot;
				break;
			case FullBodyIKMgr.IKEffectorType.Foot_L:
				this.NoPullBodyIK.solver.goal = AvatarIKGoal.LeftFoot;
				break;
			}
			break;
		case FullBodyIKMgr.IKEffectorType.Hand_L:
			this.NoPullBodyIK.solver.goal = AvatarIKGoal.LeftHand;
			break;
		}
		if (!base.isUpperBody)
		{
			if (!this.myIKMgr.body.IsCrcBody && this.myIKMgr.chara.boMAN)
			{
				return;
			}
			string str = (this.effectorType != FullBodyIKMgr.IKEffectorType.Foot_L) ? "Bip01 R " : "Bip01 L ";
			Transform bone = this.myIKMgr.body.GetBone(str + "Toe0");
			Transform bone2 = this.myIKMgr.body.GetBone(str + "Toe1");
			Transform bone3 = this.myIKMgr.body.GetBone(str + "Toe2");
			this.ToeBoneLocalAngleDic = new Dictionary<Transform, Vector3>();
			this.ToeBoneLocalAngleDic[bone] = bone.localEulerAngles;
			this.ToeBoneLocalAngleDic[bone2] = bone2.localEulerAngles;
			this.ToeBoneLocalAngleDic[bone3] = bone3.localEulerAngles;
			if (this.isLeft)
			{
				base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.Calf_L);
			}
			else
			{
				base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.Calf_R);
			}
		}
		else if (this.isLeft)
		{
			base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.Forearm_L);
		}
		else
		{
			base.limbCapsule = this.myIKMgr.body.limbColliderMgr.GetCollider(LimbColliderMgr.LimbType.Forearm_R);
		}
	}

	public override ALimbIKCtrl pairIK
	{
		get
		{
			FullBodyIKMgr.IKEffectorType effector_type;
			if (base.isUpperBody)
			{
				effector_type = ((!this.isLeft) ? FullBodyIKMgr.IKEffectorType.Hand_L : FullBodyIKMgr.IKEffectorType.Hand_R);
			}
			else
			{
				effector_type = ((!this.isLeft) ? FullBodyIKMgr.IKEffectorType.Foot_L : FullBodyIKMgr.IKEffectorType.Foot_R);
			}
			return this.myIKMgr.GetIKCtrl<ALimbIKCtrl>(effector_type);
		}
	}

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

	protected override bool IsUseOldIK
	{
		get
		{
			return this.effectorType == FullBodyIKMgr.IKEffectorType.Hand_L || this.effectorType == FullBodyIKMgr.IKEffectorType.Hand_R;
		}
	}

	public override bool isNeedFullbodySolverUpdate
	{
		get
		{
			return base.isNeedFullbodySolverUpdate && base.pointIKData.attachType != AIKCtrl.IKAttachType.Point;
		}
	}

	public ShoulderThighIKCtrl shoulderThighCtrl { get; private set; }

	public ElbowKneeIKCtrl elbowKneeCtrl { get; private set; }

	public void SetChain(ElbowKneeIKCtrl elbowknee_data, ShoulderThighIKCtrl shoulderthigh_data)
	{
		this.elbowKneeCtrl = elbowknee_data;
		this.ChainParentCtrl = elbowknee_data;
		this.shoulderThighCtrl = shoulderthigh_data;
		this.NoPullBodyIK.solver.bendGoal = elbowknee_data.constraintTarget;
	}

	public override void TargetTransCpy()
	{
		base.TargetTransCpy();
		this.effector.positionWeight = 0f;
		this.effector.rotationWeight = 0f;
		this.NoPullBodyIK.solver.IKPositionWeight = 0f;
		this.NoPullBodyIK.solver.IKRotationWeight = 0f;
		this.NoPullBodyIK.solver.bendModifierWeight = 0f;
	}

	protected override void SetTargetTransform(AIKCtrl.IKSettingData data, Vector3 pos, Quaternion rot)
	{
		base.SetTargetTransform(data, pos, rot);
		if (!data.isPointAttach || data.attachType == AIKCtrl.IKAttachType.Point)
		{
			return;
		}
		this.CalcElbowKneeTgtPosRot();
	}

	private void CalcElbowKneeTgtPosRot()
	{
		Transform constraintTarget = this.shoulderThighCtrl.constraintTarget;
		Transform constraintTarget2 = this.elbowKneeCtrl.constraintTarget;
		this.elbowKneeCtrl.rotationWeight = base.positionWeight;
		Vector3 fromDirection = base.bone.position - this.elbowKneeCtrl.bone.position;
		Vector3 toDirection = base.constraintTarget.position - constraintTarget2.position;
		constraintTarget2.rotation = Quaternion.FromToRotation(fromDirection, toDirection) * constraintTarget2.rotation;
		if (this.elbowKneeCtrl.pointIKData.isIKExecNotWeight0)
		{
			return;
		}
		Vector3 position = base.bone.InverseTransformPoint(this.elbowKneeCtrl.bone.position);
		Vector3 vector = base.constraintTarget.TransformPoint(position);
		Vector3 vector2 = base.constraintTarget.position - vector;
		Vector3 vector3 = vector - constraintTarget.position;
		float f = Vector3.Dot(vector2.normalized, vector3.normalized);
		float num = Mathf.Acos(f) * 57.29578f;
		if (float.IsNaN(num))
		{
			num = 0f;
		}
		float t = Mathf.Clamp01(num / this.BendFadeBorder);
		Vector3 vector4 = base.constraintTarget.position - constraintTarget.position;
		float num2 = Vector3.Dot(vector - constraintTarget.position, vector4.normalized);
		if (float.IsNaN(num2))
		{
			num2 = 0f;
		}
		Vector3 vector5 = constraintTarget.position + vector4.normalized * num2;
		Vector3 a = constraintTarget2.rotation * Vector3.up * 0.01f;
		Vector3 b = (vector - vector5) * this.BendStlength;
		Vector3 b2 = Vector3.Lerp(a, b, t);
		if (base.pointIKData.blendType == AIKCtrl.IKBlendType.IK_To_Detach)
		{
			constraintTarget2.position = Vector3.Lerp(this.elbowKneeCtrl.bone.position, vector5 + b2, base.positionWeight);
		}
		else
		{
			constraintTarget2.position = vector5 + b2;
		}
		this.SetElbowKneePositionWeight(base.positionWeight);
	}

	private void SetElbowKneePositionWeight(float val)
	{
		if (this.IsPullBody)
		{
			this.elbowKneeCtrl.positionWeight = val;
		}
		else
		{
			this.NoPullBodyIK.solver.bendModifierWeight = val;
		}
	}

	protected override void SetTargetTransformNoExec()
	{
		if (this.elbowKneeCtrl.positionWeight > 0f)
		{
			base.positionWeight = this.elbowKneeCtrl.positionWeight;
			base.constraintTarget.position += this.elbowKneeCtrl.constraintTarget.position - this.elbowKneeCtrl.bone.position;
		}
		if (this.elbowKneeCtrl.rotationWeight > 0f)
		{
			base.constraintTarget.position = this.elbowKneeCtrl.constraintTarget.TransformPoint(base.bone.localPosition);
			base.constraintTarget.rotation = this.elbowKneeCtrl.constraintTarget.rotation * base.bone.localRotation;
		}
	}

	protected override void DoPlaneCorrect(Vector3 normal)
	{
		ALimbIKCtrl.BorderCorrectType correctType = this.correctType;
		if (correctType != ALimbIKCtrl.BorderCorrectType.Bone)
		{
			if (correctType != ALimbIKCtrl.BorderCorrectType.HalfBody)
			{
				base.DoPlaneCorrect(normal);
			}
			else
			{
				base.DoPlaneCorrect(normal);
				this.shoulderThighCtrl.constraintTarget.position += normal;
				this.shoulderThighCtrl.positionWeight = base.positionWeight;
				this.elbowKneeCtrl.constraintTarget.position += normal;
				this.elbowKneeCtrl.positionWeight = base.positionWeight;
			}
		}
		else
		{
			Vector3 position = this.elbowKneeCtrl.bone.position;
			this.CorrectByElbowKnee(normal);
			if (this.elbowKneeCtrl.isNeedCorrect)
			{
				Vector3 position2 = base.bone.position;
				Vector3 fromDirection = this.elbowKneeCtrl.bone.position - this.shoulderThighCtrl.bone.position;
				Vector3 toDirection = position - this.shoulderThighCtrl.bone.position;
				this.shoulderThighCtrl.bone.rotation = Quaternion.FromToRotation(fromDirection, toDirection) * this.shoulderThighCtrl.bone.rotation;
				fromDirection = base.bone.position - this.elbowKneeCtrl.bone.position;
				toDirection = position2 - this.elbowKneeCtrl.bone.position;
				this.elbowKneeCtrl.bone.rotation = Quaternion.FromToRotation(fromDirection, toDirection) * this.elbowKneeCtrl.bone.rotation;
			}
		}
	}

	private void CorrectByElbowKnee(Vector3 normal)
	{
		Transform bone = this.shoulderThighCtrl.bone;
		Transform bone2 = this.elbowKneeCtrl.bone;
		Vector3 vector = base.bone.position + normal;
		Debug.DrawLine(base.bone.position, vector);
		float t = Mathf.Clamp01(Vector3.Dot(-bone.right, -bone2.right));
		Vector3 bend_pos = Vector3.Lerp(bone2.position, bone2.position + normal, t);
		this.ForceNoPullBodyIKSolve(vector, base.bone.rotation, bend_pos);
	}

	private void ForceNoPullBodyIKSolve(Vector3 target_pos, Quaternion target_rot, Vector3 bend_pos)
	{
		AIKCtrl.PosRotPair posRotPair = default(AIKCtrl.PosRotPair);
		posRotPair.Copy(this.NoPullBodyIK.solver.target);
		IKSolverLimb solver = this.NoPullBodyIK.solver;
		solver.IKPositionWeight = (solver.IKRotationWeight = 1f);
		solver.target.position = target_pos;
		solver.target.rotation = target_rot;
		solver.bendModifierWeight = 1f;
		Vector3 position = solver.bendGoal.position;
		solver.bendGoal.position = bend_pos;
		solver.Update();
		solver.target.position = posRotPair.pos;
		solver.target.rotation = posRotPair.rot;
		solver.bendGoal.position = position;
	}

	public override void HitCheck()
	{
		base.HitCheck();
		if (this.pairIK.colliderEnable && this.myIKMgr.body.IsCrcBody)
		{
			NativePlaneCollider nativePlaneCollider;
			if (base.isUpperBody)
			{
				nativePlaneCollider = ((!this.isLeft) ? this.myIKMgr.upperCrossBorder.right : this.myIKMgr.upperCrossBorder.left);
			}
			else
			{
				nativePlaneCollider = ((!this.isLeft) ? this.myIKMgr.lowerCrossBorder.right : this.myIKMgr.lowerCrossBorder.left);
			}
			Vector3 position = base.bone.position;
			if (this.elbowKneeCtrl.ForceCollidePlaneCollider(ALimbIKCtrl.BorderCorrectType.Bone, nativePlaneCollider))
			{
				Vector3 vector = position - base.bone.position;
				vector -= nativePlaneCollider.worldDirection * Vector3.Dot(vector, nativePlaneCollider.worldDirection);
				this.ForceNoPullBodyIKSolve(position, base.bone.rotation, this.elbowKneeCtrl.bone.position);
			}
		}
	}

	public override void OnPostFullBodySolverUpdate()
	{
		if (base.pointIKData.attachType == AIKCtrl.IKAttachType.Point)
		{
			return;
		}
		if (!base.isIKExec || this.IsPullBody)
		{
			base.OnPostFullBodySolverUpdate();
			return;
		}
		this.NoPullBodyIK.solver.Update();
		base.OnPostFullBodySolverUpdate();
	}

	public override void OnPostIKUpdate()
	{
		if (!base.isUpperBody)
		{
			this.SetHighHeelAngle();
		}
		base.OnPostIKUpdate();
	}

	private void SetHighHeelAngle()
	{
		if (!this.myIKMgr.body.IsHiheel)
		{
			return;
		}
		float num = Mathf.Clamp01(Vector3.Dot(Vector3.up, base.bone.right));
		float d = 25f * num;
		Vector3 localEulerAngles = base.bone.localEulerAngles;
		base.bone.localEulerAngles += Vector3.forward * d;
		if (MathUtility.AngleClamp180(base.bone.localEulerAngles.z) > 45f)
		{
			base.bone.localEulerAngles = new Vector3(localEulerAngles.x, localEulerAngles.y, 45f);
		}
		foreach (KeyValuePair<Transform, Vector3> keyValuePair in this.ToeBoneLocalAngleDic)
		{
			Transform key = keyValuePair.Key;
			Vector3 value = keyValuePair.Value;
			key.localEulerAngles = value - Vector3.forward * 25f;
		}
	}

	protected override void OnPostSetPositionWeight(float val)
	{
		if (base.pointIKData.attachType == AIKCtrl.IKAttachType.Point)
		{
			return;
		}
		if (this.IsPullBody)
		{
			this.effector.positionWeight = val;
		}
		else
		{
			this.NoPullBodyIK.solver.IKPositionWeight = val;
		}
	}

	protected override void OnPostSetRotationWeight(float val)
	{
		if (base.IsOldIKExec)
		{
			return;
		}
		if (this.IsPullBody)
		{
			this.effector.rotationWeight = val;
		}
		else
		{
			this.NoPullBodyIK.solver.IKRotationWeight = val;
		}
	}

	private const float HIGHHEEL_ANGLE = 25f;

	private const float ANGLEZ_RIMMIT = 45f;

	[SerializeField]
	[Space]
	[Range(1f, 90f)]
	private float BendFadeBorder = 30f;

	[SerializeField]
	[Range(1f, 2f)]
	private float BendStlength = 1.01f;

	public readonly IKEffector effector;

	private LimbIK NoPullBodyIK;

	private readonly Dictionary<Transform, Vector3> ToeBoneLocalAngleDic;
}