COM_Diff/Assembly-CSharp/AIKCtrl.cs

using System;
using kt.ik;
using kt.Utility;
using UnityEngine;

public abstract class AIKCtrl
{
	public AIKCtrl(FullBodyIKMgr ik_mgr, FullBodyIKMgr.IKEffectorType effector_type)
	{
		this.myIKMgr = ik_mgr;
		this.effectorType = effector_type;
		this.Bone = ik_mgr.GetIKBone(effector_type);
		this.ChainBones = ik_mgr.GetChainBonesToInit(effector_type);
		string text = (!this.myIKMgr.chara.boMAN) ? "Bip01" : "ManBip";
		string name = effector_type.ToString() + " IKTarget";
		Transform transform = this.myIKMgr.ikTargetRoot.Find(name);
		if (!transform)
		{
			transform = new GameObject(name).transform;
			transform.SetParent(this.myIKMgr.ikTargetRoot, false);
			GameObject gameObject = new GameObject("IKTarget");
			gameObject.transform.SetParent(transform, false);
			this.ConstraintTarget = gameObject.transform;
		}
		else
		{
			this.ConstraintTarget = transform.Find("IKTarget");
		}
		this.MyBoneTgtPair = new AIKCtrl.BoneTgtPair(this.bone, this.ConstraintTarget);
		this.VirtualTarget = new GameObject("VirtualTarget").transform;
		this.VirtualTarget.transform.SetParent(transform, false);
		this.PointIKData.ikCtrl = ik_mgr;
		this.RotateIKData.ikCtrl = ik_mgr;
		if (this.IsUseOldIK)
		{
			this.IKCmo = new TBody.IKCMO();
			this.IKCmo.Init(this.ChainBones[0], this.ChainBones[1], this.ChainBones[2], ik_mgr.body);
		}
	}

	public AIKCtrl.IKSettingData pointIKData
	{
		get
		{
			return this.PointIKData;
		}
	}

	public AIKCtrl.IKSettingData rotateIKData
	{
		get
		{
			return this.RotateIKData;
		}
	}

	protected virtual bool IsUseOldIK
	{
		get
		{
			return false;
		}
	}

	protected bool IsOldIKExec
	{
		get
		{
			bool flag = this.IsUseOldIK;
			flag &= this.pointIKData.isIKExec;
			return flag & this.pointIKData.attachType == AIKCtrl.IKAttachType.Point;
		}
	}

	public float blendTime
	{
		get
		{
			return this.myIKMgr.blendTime;
		}
		set
		{
			AIKCtrl.IKSettingData pointIKData = this.pointIKData;
			this.rotateIKData.blendTime = value;
			pointIKData.blendTime = value;
		}
	}

	public Transform bone
	{
		get
		{
			return this.Bone;
		}
	}

	public Transform constraintTarget
	{
		get
		{
			return this.ConstraintTarget;
		}
	}

	public Transform virtualTarget
	{
		get
		{
			return this.VirtualTarget;
		}
	}

	public bool isIKExec
	{
		get
		{
			return this.pointIKData.isIKExec || this.rotateIKData.isIKExec;
		}
	}

	public bool isIKExecNotWeight0
	{
		get
		{
			return this.pointIKData.isIKExecNotWeight0 || this.rotateIKData.isIKExecNotWeight0;
		}
	}

	public virtual bool isNeedFullbodySolverUpdate
	{
		get
		{
			return false;
		}
	}

	public bool isNeedAttachTargetUpdatePreExec { get; protected set; }

	public Transform[] chainBones
	{
		get
		{
			return this.ChainBones;
		}
	}

	protected Transform ChainRoot
	{
		get
		{
			return this.chainBones[0];
		}
	}

	public float positionWeight
	{
		get
		{
			return this.pointIKData.weight;
		}
		set
		{
			this.pointIKData.weight = value;
			this.OnPostSetPositionWeight(value);
		}
	}

	public float rotationWeight
	{
		get
		{
			return this.rotateIKData.weight;
		}
		set
		{
			this.rotateIKData.weight = value;
			this.OnPostSetRotationWeight(value);
		}
	}

	public bool isUpperBody { get; protected set; }

	public static bool operator true(AIKCtrl data)
	{
		return data != null;
	}

	public static bool operator false(AIKCtrl data)
	{
		return data == null;
	}

	public static bool operator !(AIKCtrl data)
	{
		return data == null;
	}

	public void SetFlagTarget(AIKCtrl.IKAttachType attach_type, string name)
	{
		if (this.myIKMgr.chara.boMAN)
		{
			this.GetFlagData(attach_type).target = this.myIKMgr.body.GetBone(name);
		}
		else
		{
			this.GetFlagData(attach_type).target = this.myIKMgr.GetSTFlagObj(name);
		}
	}

	public virtual void SetIKSetting(IKAttachParam param)
	{
		this.myIKMgr.isIKActive = true;
		AIKCtrl.IKSettingData iksettingData = this.GetIKSettingData(param.attachType);
		AIKCtrl.IKTargetData tgtData = iksettingData.GetTgtData(param.execTiming);
		if (iksettingData.attachType != AIKCtrl.IKAttachType.Rotate)
		{
			iksettingData.attachType = param.attachType;
		}
		iksettingData.blendTime = param.blendTime;
		iksettingData.offsetEnable = param.offsetEnable;
		if (this.myIKMgr.body.isMotionChange)
		{
			iksettingData.isSetFirstFramePosRot = false;
		}
		if (param.attachType == AIKCtrl.IKAttachType.NewPoint)
		{
			this.posOffsetType = param.posOffsetType;
			this.SetPullState(param.bodyPull);
		}
		this.BlendPosRot.Copy(this.LastIKPosRot);
		if (tgtData.targetChara)
		{
			this.myIKMgr.RemovePartner(tgtData.targetChara, true);
		}
		if (param.targetChara)
		{
			this.myIKMgr.AddPartner(param.targetChara, true);
		}
		iksettingData.SetIKSetting(param);
		this.myIKMgr.RemoveReservedDetach(this);
		this.isNeedAttachTargetUpdatePreExec |= (param.targetChara == this.myIKMgr.chara);
	}

	public virtual void SetPullState(bool pull_on)
	{
	}

	public void SetVirtualPosRot(AIKCtrl.PosRotPair posrot)
	{
		this.VirtualPosRot = posrot;
	}

	public virtual void TargetTransCpy()
	{
		this.MyBoneTgtPair.Copy();
		float num = 0f;
		this.rotationWeight = num;
		this.positionWeight = num;
	}

	public virtual void ApplyIKSetting()
	{
		if (!this.myIKMgr.isUpdateEnd)
		{
			this.EachOtherIK = false;
		}
		this.ApplyIKSetting(this.GetIKSettingData(AIKCtrl.IKAttachType.NewPoint));
		this.ApplyIKSetting(this.GetIKSettingData(AIKCtrl.IKAttachType.Rotate));
	}

	private void ApplyIKSetting(AIKCtrl.IKSettingData data)
	{
		if (this.myIKMgr.isUpdateLate)
		{
			return;
		}
		if (data.curTargetData.targetChara && data.curTargetData.targetChara != this.myIKMgr.chara)
		{
			TBody body = data.curTargetData.targetChara.body0;
			if (body.fullBodyIK != null)
			{
				if (!string.IsNullOrEmpty(data.curTargetData.attachIKName))
				{
					AIKCtrl ikctrl = body.fullBodyIK.GetIKCtrl(data.curTargetData.attachIKName);
					if (ikctrl != null && ikctrl.isIKExec)
					{
						AIKCtrl.IKSettingData iksettingData = ikctrl.GetIKSettingData(data.attachType);
						this.EachOtherIK = this.IsEachBoneIK(iksettingData);
					}
				}
				if (!this.IsIgnoreLateUpdateEnd && this.myIKMgr.ikExecOrder >= body.fullBodyIK.ikExecOrder && !body.isLateUpdateEnd && !this.myIKMgr.body.isLateUpdateEnd)
				{
					this.myIKMgr.isUpdateLate = true;
					if (body.fullBodyIK.isIKExec)
					{
						body.fullBodyIK.onPostSolverUpdate.Add(new Action(this.myIKMgr.LateIKUpdate), true);
					}
					else
					{
						body.onLateUpdateEnd.Add(new Action(this.myIKMgr.LateIKUpdate), true);
					}
					return;
				}
			}
		}
		if (!data.isBlendEnd && data.blendTime <= 0f)
		{
			data.BlendEnd();
		}
		data.isOffsetSetEnd = false;
		data.isIKExec = true;
		Vector3 vector = this.bone.position;
		Quaternion quaternion = this.bone.rotation;
		float num = 1f;
		if (this.GetFlagData(data.attachType).isEnable)
		{
			if (!this.GetFlagData(data.attachType).blendCtrlSelf)
			{
				AIKCtrl.IKExecTiming curExecTiming = data.changeFlagData.curExecTiming;
				this.MultiTgtDataToPosRot(data, AIKCtrl.IKExecTiming.Normal, curExecTiming, ref vector, ref quaternion, ref num);
				data.isOffsetSetEnd = true;
				data.isIKExec = true;
			}
			else
			{
				AIKCtrl.IKExecTiming lastExecTiming = data.changeFlagData.lastExecTiming;
				if (this.GetFlagData(data.attachType).IsFlagChange())
				{
					AIKCtrl.IKTargetData tgtData = data.GetTgtData(lastExecTiming);
					data.BlendReset();
					data.curTargetData.SetLastTarget(tgtData.tgtAttachName, tgtData.targetChara, tgtData.target, tgtData.tgtOffset);
					data.CheckBlendType();
					if (data.attachType == AIKCtrl.IKAttachType.Rotate)
					{
						this.BlendPosRot.rot = this.LastIKPosRot.rot;
					}
					else
					{
						this.BlendPosRot.pos = this.LastIKPosRot.pos;
					}
					this.SetIKPosRot(data, ref vector, ref quaternion, false, AIKCtrl.IKExecTiming.Normal);
				}
				else
				{
					this.SetIKPosRot(data, ref vector, ref quaternion, false, AIKCtrl.IKExecTiming.Normal);
				}
			}
		}
		else
		{
			this.SetIKPosRot(data, ref vector, ref quaternion, false, AIKCtrl.IKExecTiming.Normal);
		}
		if (data.isIKExec)
		{
			bool flag = this.EachOtherIK && !data.curTargetData.targetChara.fullBodyIK.isUpdateEnd;
			if (flag && data.isBlendNow)
			{
				if (data.isPointAttach)
				{
					vector = Vector3.Lerp(vector, this.bone.position, 0.5f);
				}
				else
				{
					quaternion = Quaternion.Lerp(quaternion, this.bone.rotation, 0.5f);
				}
			}
			if (data.isFirstFrame && !data.isSetFirstFramePosRot)
			{
				if (data.isPointAttach)
				{
					this.FirstBonePosRot.pos = this.bone.position;
					if (flag)
					{
						this.FirstTgtPosRot.pos = Vector3.Lerp(this.bone.position, vector, 0.5f);
					}
					else
					{
						this.FirstTgtPosRot.pos = vector;
					}
				}
				else
				{
					this.FirstBonePosRot.rot = this.bone.rotation;
					if (flag)
					{
						this.FirstTgtPosRot.rot = Quaternion.Lerp(this.bone.rotation, quaternion, 0.5f);
					}
					else
					{
						this.FirstTgtPosRot.rot = quaternion;
					}
				}
			}
			if (data.isPointAttach)
			{
				if (data.blendType == AIKCtrl.IKBlendType.IK_To_Detach)
				{
					this.positionWeight = num * (1f - data.blendWeight);
				}
				else if (data.blendType == AIKCtrl.IKBlendType.Detach_To_IK)
				{
					this.positionWeight = num * data.blendWeight;
				}
				else
				{
					this.positionWeight = num;
				}
			}
			else if (data.blendType == AIKCtrl.IKBlendType.IK_To_Detach)
			{
				this.rotationWeight = num * (1f - data.blendWeight);
			}
			else if (data.blendType == AIKCtrl.IKBlendType.Detach_To_IK)
			{
				this.rotationWeight = num * data.blendWeight;
			}
			else
			{
				this.rotationWeight = num;
			}
			this.SetTargetTransform(data, vector, quaternion);
			data.isSetFirstFramePosRot = (data.isFirstFrame && !data.isSetFirstFramePosRot);
			data.CheckFirstFrame();
			if (data.curTargetData.isShowTgtAxis)
			{
				DebugUtility.DrawAxis(vector, quaternion, 0.125f);
			}
			if (!data.isPosRotSetEnd && !data.isBlendEnd)
			{
				data.elapsedTime += Time.deltaTime;
				if (data.elapsedTime >= data.blendTime)
				{
					data.BlendEnd();
				}
			}
			data.isPosRotSetEnd = true;
		}
	}

	private void SetIKPosRot(AIKCtrl.IKSettingData setting_data, ref Vector3 pos, ref Quaternion rot, bool include_offset = false, AIKCtrl.IKExecTiming exec_timing = AIKCtrl.IKExecTiming.Normal)
	{
		this.SetIKPosRot(setting_data, setting_data.GetTgtData(exec_timing), ref pos, ref rot, include_offset);
	}

	private void SetIKPosRot(AIKCtrl.IKSettingData setting_data, AIKCtrl.IKTargetData tgt_data, ref Vector3 pos, ref Quaternion rot, bool include_offset = false)
	{
		setting_data.isIKExec = true;
		if (tgt_data.target != null)
		{
			if (tgt_data.target == this.virtualTarget)
			{
				Transform transform = this.myIKMgr.chara.transform;
				this.virtualTarget.rotation = transform.rotation * this.VirtualPosRot.rot;
				this.virtualTarget.position = transform.TransformPoint(this.VirtualPosRot.pos);
			}
			pos = tgt_data.target.position;
			rot = tgt_data.target.rotation;
		}
		else if (tgt_data.tgtAttachName != string.Empty)
		{
			if (this.myIKMgr.body.goSlot[tgt_data.tgtAttachSlot].morph != null)
			{
				if (tgt_data.targetChara != null && tgt_data.targetChara.body0 != null)
				{
					Vector3 vector;
					tgt_data.targetChara.body0.goSlot[tgt_data.tgtAttachSlot].morph.GetAttachPoint(tgt_data.tgtAttachName, out pos, out rot, out vector, false);
					if (setting_data.attachType == AIKCtrl.IKAttachType.NewPoint && tgt_data.axisTarget)
					{
						rot = tgt_data.axisTarget.rotation;
					}
				}
				else
				{
					setting_data.isIKExec = false;
					tgt_data.tgtAttachName = string.Empty;
				}
			}
			else
			{
				setting_data.isIKExec = false;
			}
		}
		else if (setting_data.blendType == AIKCtrl.IKBlendType.IK_To_Detach)
		{
			pos = this.GetBlendBasePos();
			rot = this.GetBlendBaseRot();
		}
		else
		{
			setting_data.isIKExec = false;
		}
		if (setting_data.isIKExec && include_offset)
		{
			Vector3 vector2 = tgt_data.tgtOffset;
			Vector3 vector3 = tgt_data.lastOffset;
			if (setting_data.isPointAttach)
			{
				Vector3 start = pos;
				AIKCtrl.PosOffsetType posOffsetType = this.posOffsetType;
				if (posOffsetType != AIKCtrl.PosOffsetType.OffsetBone)
				{
					if (posOffsetType == AIKCtrl.PosOffsetType.OffsetTarget)
					{
						vector2 = rot * vector2;
						vector3 = rot * vector3;
					}
				}
				else
				{
					vector2 = -(this.bone.rotation * vector2);
					vector3 = -(this.bone.rotation * vector3);
				}
				if (setting_data.blendType == AIKCtrl.IKBlendType.IK_To_IK && !setting_data.isTargetChange)
				{
					vector2 = Vector3.Lerp(vector3 + setting_data.lastAnmOffset, vector2, setting_data.blendWeight);
				}
				pos += vector2;
				Debug.DrawLine(start, pos, Color.white);
			}
			else
			{
				if (setting_data.blendType == AIKCtrl.IKBlendType.IK_To_IK && !setting_data.isTargetChange)
				{
					vector2 = Vector3.Lerp(tgt_data.lastOffset + setting_data.lastAnmOffset, vector2, setting_data.blendWeight);
				}
				rot *= Quaternion.Euler(vector2);
			}
		}
	}

	public Vector3 GetBlendBasePos()
	{
		if (this.BlendCalc == AIKCtrl.BlendCalcType.World)
		{
			return this.BlendPosRot.pos;
		}
		return this.ChainRoot.position + this.BlendPosRot.pos;
	}

	private Quaternion GetBlendBaseRot()
	{
		if (this.BlendCalc == AIKCtrl.BlendCalcType.World)
		{
			return this.BlendPosRot.rot;
		}
		return this.ChainRoot.rotation * this.BlendPosRot.rot;
	}

	protected bool IsEachBoneIK(AIKCtrl.IKSettingData data)
	{
		return data.isIKExec && data.curTargetData.target == this.bone;
	}

	private void MultiTgtDataToPosRot(AIKCtrl.IKSettingData data, AIKCtrl.IKExecTiming from, AIKCtrl.IKExecTiming to, ref Vector3 pos, ref Quaternion rot, ref float weight)
	{
		AIKCtrl.IKTargetData tgtData = data.GetTgtData(from);
		AIKCtrl.IKTargetData tgtData2 = data.GetTgtData(to);
		Vector3 a = pos;
		Quaternion a2 = rot;
		this.SetIKPosRot(data, tgtData, ref a, ref a2, true);
		Vector3 b = pos;
		Quaternion b2 = rot;
		this.SetIKPosRot(data, tgtData2, ref b, ref b2, true);
		float blendValue = this.GetFlagData(data.attachType).GetBlendValue(from, to);
		if (!tgtData.isExistTarget)
		{
			weight = ((!tgtData2.isExistTarget) ? 0f : blendValue);
		}
		else
		{
			weight = 1f;
		}
		if (data.isPointAttach)
		{
			pos = Vector3.Lerp(a, b, blendValue);
		}
		else
		{
			rot = Quaternion.Slerp(a2, b2, blendValue);
		}
	}

	protected virtual void SetTargetTransform(AIKCtrl.IKSettingData data, Vector3 pos, Quaternion rot)
	{
		AIKCtrl.IKTargetData curTargetData = data.curTargetData;
		Vector3 vector = curTargetData.tgtOffset;
		Vector3 vector2 = curTargetData.lastOffset;
		switch (data.attachType)
		{
		case AIKCtrl.IKAttachType.Point:
			Debug.DrawLine(pos, pos + rot * Vector3.forward * 0.2f, Color.cyan);
			if (!data.isOffsetSetEnd)
			{
				this.IkCmoPorc(pos, data.curTargetData.tgtOffset);
			}
			else
			{
				this.IkCmoPorc(pos, Vector3.zero);
			}
			break;
		case AIKCtrl.IKAttachType.NewPoint:
			if (!data.isOffsetSetEnd)
			{
				Vector3 start = pos;
				AIKCtrl.PosOffsetType posOffsetType = this.posOffsetType;
				if (posOffsetType != AIKCtrl.PosOffsetType.OffsetBone)
				{
					if (posOffsetType == AIKCtrl.PosOffsetType.OffsetTarget)
					{
						vector = rot * vector;
						vector2 = rot * vector2;
					}
				}
				else
				{
					vector = -(this.bone.rotation * vector);
					vector2 = -(this.bone.rotation * vector2);
				}
				if (data.blendType == AIKCtrl.IKBlendType.IK_To_IK && !data.isTargetChange)
				{
					vector = Vector3.Lerp(vector2 + data.lastAnmOffset, vector, data.blendWeight);
				}
				pos += vector;
				Debug.DrawLine(start, pos, Color.white);
			}
			pos = data.offsetEnable.GetEnable(this.bone.position, pos, false);
			this.ConstraintTarget.position = pos;
			if (data.blendType == AIKCtrl.IKBlendType.IK_To_IK && data.isTargetChange)
			{
				if (data.blendWeight < 0.5f)
				{
					this.ConstraintTarget.position = Vector3.Lerp(this.GetBlendBasePos(), this.bone.position, data.blendWeight / 0.5f);
				}
				else
				{
					this.ConstraintTarget.position = Vector3.Lerp(this.bone.position, this.ConstraintTarget.position, (data.blendWeight - 0.5f) / 0.5f);
				}
			}
			break;
		case AIKCtrl.IKAttachType.Rotate:
			if (!data.isOffsetSetEnd)
			{
				if (data.blendType == AIKCtrl.IKBlendType.IK_To_IK && !data.isTargetChange)
				{
					vector = Vector3.Lerp(curTargetData.lastOffset + data.lastAnmOffset, vector, data.blendWeight);
				}
				rot *= Quaternion.Euler(vector);
			}
			rot = Quaternion.Euler(data.offsetEnable.GetEnable(this.bone.eulerAngles, rot.eulerAngles, false));
			this.ConstraintTarget.rotation = rot;
			if (data.blendType == AIKCtrl.IKBlendType.IK_To_IK && data.isTargetChange)
			{
				if (data.blendWeight < 0.5f)
				{
					this.ConstraintTarget.rotation = Quaternion.Slerp(this.GetBlendBaseRot(), this.bone.rotation, data.blendWeight / 0.5f);
				}
				else
				{
					this.ConstraintTarget.rotation = Quaternion.Slerp(this.bone.rotation, this.ConstraintTarget.rotation, (data.blendWeight - 0.5f) / 0.5f);
				}
			}
			break;
		}
		if (data.doAnimation && data.isBlendEnd)
		{
			if (data.isPointAttach)
			{
				data.anmOffset = this.bone.position - this.FirstBonePosRot.pos + (this.FirstTgtPosRot.pos - curTargetData.target.position);
				Debug.DrawRay(this.constraintTarget.position, data.anmOffset, Color.gray);
				this.constraintTarget.position += data.anmOffset;
			}
			else
			{
				Quaternion rhs = this.bone.rotation * Quaternion.Inverse(this.FirstBonePosRot.rot);
				this.constraintTarget.rotation *= rhs;
				data.anmOffset = rhs.eulerAngles;
			}
		}
		data.isOffsetSetEnd = true;
	}

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

	public virtual void OnPostFullBodySolverUpdate()
	{
	}

	public virtual void OnPostIKUpdate()
	{
		this.SaveLastTargetPosRot();
		this.pointIKData.isPosRotSetEnd = (this.rotateIKData.isPosRotSetEnd = false);
	}

	protected virtual void SaveLastTargetPosRot()
	{
		if (this.BlendCalc == AIKCtrl.BlendCalcType.World)
		{
			this.LastIKPosRot.Copy(this.constraintTarget);
		}
		else
		{
			this.LastIKPosRot.pos = this.constraintTarget.position - this.ChainRoot.position;
			this.LastIKPosRot.rot = this.ChainRoot.InverseTransformRotation(this.constraintTarget.rotation);
		}
	}

	public virtual void Detach()
	{
		this.isNeedAttachTargetUpdatePreExec = false;
		this.Detach(AIKCtrl.IKAttachType.NewPoint);
		this.Detach(AIKCtrl.IKAttachType.Rotate);
		this.BlendPosRot.Copy(this.LastIKPosRot);
	}

	protected void Detach(AIKCtrl.IKAttachType attachType)
	{
		AIKCtrl.IKSettingData iksettingData = this.GetIKSettingData(attachType);
		foreach (AIKCtrl.IKExecTiming exec_timing in (AIKCtrl.IKExecTiming[])Enum.GetValues(typeof(AIKCtrl.IKExecTiming)))
		{
			this.myIKMgr.RemovePartner(iksettingData.GetTgtData(exec_timing).targetChara, true);
		}
		this.GetFlagData(attachType).Reset();
		iksettingData.Detach();
	}

	public virtual void Reset()
	{
	}

	public void ResetDetach()
	{
		this.Reset();
		this.Detach();
	}

	public AIKCtrl.IKSettingData GetIKSettingData(AIKCtrl.IKAttachType attach_type)
	{
		if (attach_type == AIKCtrl.IKAttachType.Rotate)
		{
			return this.RotateIKData;
		}
		return this.PointIKData;
	}

	public AIKCtrl.ChangeFlagData GetFlagData(AIKCtrl.IKAttachType attach_type)
	{
		return this.GetIKSettingData(attach_type).changeFlagData;
	}

	public AIKCtrl.IKTargetData GetTargetData(AIKCtrl.IKAttachType attach_type)
	{
		return this.GetIKSettingData(attach_type).curTargetData;
	}

	public AIKCtrl.IKTargetData GetTargetData(AIKCtrl.IKAttachType attach_type, AIKCtrl.IKExecTiming exec_timing)
	{
		return this.GetIKSettingData(attach_type).GetTgtData(exec_timing);
	}

	private bool IsIKTargetChara(AIKCtrl.IKAttachType attach_type, Maid chara)
	{
		AIKCtrl.IKSettingData iksettingData = this.GetIKSettingData(attach_type);
		foreach (AIKCtrl.IKExecTiming exec_timing in (AIKCtrl.IKExecTiming[])Enum.GetValues(typeof(AIKCtrl.IKExecTiming)))
		{
			AIKCtrl.IKTargetData tgtData = iksettingData.GetTgtData(exec_timing);
			if (tgtData.targetChara == chara)
			{
				return true;
			}
		}
		return false;
	}

	public bool IsIKTargetChara(Maid chara)
	{
		return this.IsIKTargetChara(AIKCtrl.IKAttachType.NewPoint, chara) || this.IsIKTargetChara(AIKCtrl.IKAttachType.Rotate, chara);
	}

	public AIKCtrl.Vec3Enable GetIKEnable(AIKCtrl.IKAttachType attach_type)
	{
		return this.GetIKSettingData(attach_type).offsetEnable;
	}

	protected virtual void OnPostSetPositionWeight(float val)
	{
	}

	protected virtual void OnPostSetRotationWeight(float val)
	{
	}

	[SerializeField]
	[Header("位置IK")]
	private AIKCtrl.IKSettingData PointIKData = new AIKCtrl.IKSettingData(AIKCtrl.IKAttachType.NewPoint);

	[SerializeField]
	[Header("回転IK")]
	private AIKCtrl.IKSettingData RotateIKData = new AIKCtrl.IKSettingData(AIKCtrl.IKAttachType.Rotate);

	protected TBody.IKCMO IKCmo;

	protected AIKCtrl.PosRotPair BlendPosRot = default(AIKCtrl.PosRotPair);

	protected AIKCtrl.BlendCalcType BlendCalc;

	[SerializeField]
	[Header("ボーンとアタッチ用ターゲット")]
	private Transform Bone;

	public readonly FullBodyIKMgr.IKEffectorType effectorType;

	[SerializeField]
	private Transform ConstraintTarget;

	[SerializeField]
	private Transform VirtualTarget;

	private AIKCtrl.PosRotPair VirtualPosRot;

	private AIKCtrl.BoneTgtPair MyBoneTgtPair;

	protected AIKCtrl.PosRotPair FirstTgtPosRot = default(AIKCtrl.PosRotPair);

	protected AIKCtrl.PosRotPair FirstBonePosRot = default(AIKCtrl.PosRotPair);

	protected AIKCtrl.PosRotPair LastIKPosRot = default(AIKCtrl.PosRotPair);

	protected bool EachOtherIK;

	[Space]
	public AIKCtrl.PosOffsetType posOffsetType;

	public readonly FullBodyIKMgr myIKMgr;

	[SerializeField]
	[ReadOnly]
	protected Transform[] ChainBones;

	protected bool IsIgnoreLateUpdateEnd;

	public enum IKAttachType
	{
		Point,
		NewPoint,
		Rotate
	}

	public enum IKBlendType
	{
		Detach_To_IK,
		IK_To_IK,
		IK_To_Detach,
		Not_Blend
	}

	protected enum BlendCalcType
	{
		World,
		Local
	}

	public enum PosOffsetType
	{
		OffsetTarget,
		OffsetWorld,
		OffsetBone
	}

	public enum IKExecTiming
	{
		Normal,
		FlagPositive,
		FlagNegative = -1
	}

	[Serializable]
	public struct Vec3Enable
	{
		public Vec3Enable(bool x_enable, bool y_enable, bool z_enable)
		{
			this.enableX = x_enable;
			this.enableY = y_enable;
			this.enableZ = z_enable;
		}

		public bool isAnyDisable
		{
			get
			{
				return !this.enableX || !this.enableY || !this.enableZ;
			}
		}

		public Vector3 GetEnable(Vector3 pos, bool inverse = false)
		{
			if (this.enableX == inverse)
			{
				pos.x = 0f;
			}
			if (this.enableY == inverse)
			{
				pos.y = 0f;
			}
			if (this.enableZ == inverse)
			{
				pos.z = 0f;
			}
			return pos;
		}

		public Vector3 GetEnable(Vector3 from, Vector3 to, bool inverse = false)
		{
			if (this.enableX == inverse)
			{
				to.x = from.x;
			}
			if (this.enableY == inverse)
			{
				to.y = from.y;
			}
			if (this.enableZ == inverse)
			{
				to.z = from.z;
			}
			return to;
		}

		public void Reset()
		{
			this.enableX = (this.enableY = (this.enableZ = true));
		}

		public string OffEnableToStr()
		{
			if (!this.isAnyDisable)
			{
				return string.Empty;
			}
			string text = " disable=";
			if (!this.enableX)
			{
				text += "x";
			}
			if (!this.enableY)
			{
				if (!this.enableX)
				{
					text += ",";
				}
				text += "y";
			}
			if (!this.enableZ)
			{
				if (!this.enableX || !this.enableY)
				{
					text += ",";
				}
				text += "z";
			}
			return text;
		}

		public bool enableX;

		public bool enableY;

		public bool enableZ;
	}

	[Serializable]
	public struct PosRotPair
	{
		public PosRotPair(Vector3 position, Quaternion rotation)
		{
			this.pos = position;
			this.rot = rotation;
		}

		public void Reset()
		{
			this.pos = Vector3.zero;
			this.rot = new Quaternion(0f, 0f, 0f, 1f);
		}

		public void Copy(AIKCtrl.PosRotPair pair)
		{
			this.pos = pair.pos;
			this.rot = pair.rot;
		}

		public void Copy(Transform transform)
		{
			this.pos = transform.position;
			this.rot = transform.rotation;
		}

		public void CopyLocal(Transform transform)
		{
			this.pos = transform.localPosition;
			this.rot = transform.localRotation;
		}

		public void DrawAxis()
		{
			DebugUtility.DrawAxis(this.pos, this.rot, 0.0625f);
		}

		public Vector3 pos;

		public Quaternion rot;
	}

	public struct BoneTgtPair
	{
		public BoneTgtPair(Transform bone, Transform target)
		{
			this.bone = bone;
			this.target = target;
			this.Copy();
		}

		public void Copy()
		{
			this.target.position = this.bone.position;
			this.target.rotation = this.bone.rotation;
		}

		public readonly Transform bone;

		public readonly Transform target;
	}

	[Serializable]
	public class ChangeFlagData
	{
		public bool isEnable
		{
			get
			{
				return this.target != null;
			}
		}

		public AIKCtrl.IKExecTiming lastExecTiming { get; private set; }

		public AIKCtrl.IKExecTiming curExecTiming
		{
			get
			{
				if (this.GetFlagValue() > 0f)
				{
					return AIKCtrl.IKExecTiming.FlagPositive;
				}
				if (this.GetFlagValue() < 0f)
				{
					return AIKCtrl.IKExecTiming.FlagNegative;
				}
				return AIKCtrl.IKExecTiming.Normal;
			}
		}

		public float GetFlagValue()
		{
			if (!this.target)
			{
				return 0f;
			}
			return Vector3.Dot(this.target.localPosition, this.axis) / this.onValue;
		}

		public float GetBlendValue(AIKCtrl.IKExecTiming from, AIKCtrl.IKExecTiming to)
		{
			if (from == to)
			{
				return 1f;
			}
			return Mathf.InverseLerp((float)from, (float)to, this.GetFlagValue());
		}

		public bool IsFlagChange()
		{
			if (!this.target)
			{
				return false;
			}
			AIKCtrl.IKExecTiming lastExecTiming = this.lastExecTiming;
			this.lastExecTiming = this.curExecTiming;
			return lastExecTiming != this.lastExecTiming;
		}

		public void Reset()
		{
			this.target = null;
			this.lastExecTiming = AIKCtrl.IKExecTiming.Normal;
			this.blendCtrlSelf = false;
		}

		public Transform target;

		public Vector3 axis = Vector3.forward;

		public float onValue = 0.1f;

		[HideInInspector]
		public bool blendCtrlSelf;
	}

	[Serializable]
	public class IKTargetData
	{
		public string lastAttachName { get; private set; }

		public Transform lastTarget { get; private set; }

		public Maid lastTgtChara { get; private set; }

		public Vector3 lastOffset { get; private set; }

		public bool isExistTarget
		{
			get
			{
				return this.target != null || !string.IsNullOrEmpty(this.tgtAttachName);
			}
		}

		public bool isTgtAttachPoint
		{
			get
			{
				return this.target == null && !string.IsNullOrEmpty(this.tgtAttachName);
			}
		}

		public bool IsEachOtherIK(bool check_update = false)
		{
			return this.targetChara && this.targetChara.body0.fullBodyIK.isIKExec && this.targetChara.body0.fullBodyIK.isUpdateEnd == check_update;
		}

		public void SaveLastTarget()
		{
			this.lastAttachName = this.tgtAttachName;
			this.lastTgtChara = this.targetChara;
			this.lastTarget = this.target;
			this.lastOffset = this.tgtOffset;
		}

		public void SetLastTarget(string attach_name, Maid maid, Transform target, Vector3 offset)
		{
			this.lastAttachName = attach_name;
			this.lastTgtChara = maid;
			this.lastTarget = target;
			this.lastOffset = offset;
		}

		public void SetIKSetting(IKAttachParam param, bool is_offset_rimmit = false)
		{
			this.SetLastTarget(this.tgtAttachName, this.targetChara, this.target, this.tgtOffset);
			this.targetChara = param.targetChara;
			this.tgtAttachSlot = param.slotNo;
			this.tgtAttachName = param.attachPointName;
			this.axisTarget = param.axisBone;
			this.target = param.attachTarget;
			this.attachIKName = param.attachIKName;
			if (!is_offset_rimmit)
			{
				this.tgtOffset = param.offset;
			}
			else
			{
				this.tgtOffset = MathUtility.AngleClamp180(param.offset);
			}
			this.isIKExec = true;
		}

		public void Detach()
		{
			this.SetLastTarget(this.tgtAttachName, this.targetChara, this.target, this.tgtOffset);
			this.targetChara = null;
			this.tgtAttachSlot = -1;
			this.tgtAttachName = string.Empty;
			this.target = null;
			this.axisTarget = null;
			this.tgtOffset = Vector3.zero;
			this.attachIKName = string.Empty;
		}

		public Transform target;

		public Vector3 tgtOffset;

		public int tgtAttachSlot = -1;

		public string tgtAttachName = string.Empty;

		public string attachIKName = string.Empty;

		public Maid targetChara;

		public bool isShowTgtAxis;

		public bool isIKExec;

		public Transform axisTarget;
	}

	[Serializable]
	public class IKSettingData
	{
		public IKSettingData(AIKCtrl.IKAttachType type)
		{
			this.attachType = type;
			this.blendType = AIKCtrl.IKBlendType.Not_Blend;
			this.offsetEnable.Reset();
		}

		public bool isPointAttach
		{
			get
			{
				return this.attachType != AIKCtrl.IKAttachType.Rotate;
			}
		}

		public AIKCtrl.ChangeFlagData changeFlagData
		{
			get
			{
				return this.ChangeFlagData;
			}
		}

		public AIKCtrl.IKTargetData curTargetData
		{
			get
			{
				AIKCtrl.IKExecTiming curExecTiming = this.changeFlagData.curExecTiming;
				if (curExecTiming == AIKCtrl.IKExecTiming.FlagPositive)
				{
					return this.FlagPositiveTgtData;
				}
				if (curExecTiming != AIKCtrl.IKExecTiming.FlagNegative)
				{
					return this.NormalTgtData;
				}
				return this.FlagNegativeTgtData;
			}
		}

		public bool isIKExecNotWeight0
		{
			get
			{
				return this.isIKExec && this.weight > 0f;
			}
		}

		public AIKCtrl.IKBlendType blendType { get; private set; }

		public bool isTargetChange { get; private set; }

		public bool isNeedBlend
		{
			get
			{
				return this.blendTime > 0f && !this.isBlendEnd;
			}
		}

		public float blendWeight
		{
			get
			{
				return Mathf.Clamp01(this.elapsedTime / this.blendTime);
			}
		}

		public bool isBlendNow
		{
			get
			{
				return this.isNeedBlend && this.elapsedTime < this.blendTime;
			}
		}

		public bool isBlendEnd { get; private set; }

		public bool isFirstFrame
		{
			get
			{
				return !this.isBlendNow && this.IsFirstFrame;
			}
		}

		public void CheckBlendType()
		{
			this.blendType = AIKCtrl.IKBlendType.IK_To_IK;
			bool flag = true;
			this.isTargetChange = false;
			float num = Vector3.Distance(this.curTargetData.lastOffset, this.curTargetData.tgtOffset);
			if (this.curTargetData.lastTarget)
			{
				if (!this.curTargetData.isExistTarget)
				{
					this.blendType = AIKCtrl.IKBlendType.IK_To_Detach;
				}
				else if (this.curTargetData.target)
				{
					flag = (this.isTargetChange = (this.curTargetData.lastTarget != this.curTargetData.target));
				}
				else
				{
					flag = (this.isTargetChange = true);
				}
				flag |= (num > 0.01f || this.lastAnmOffset != Vector3.zero);
			}
			else if (!string.IsNullOrEmpty(this.curTargetData.lastAttachName))
			{
				if (!this.curTargetData.isExistTarget)
				{
					this.blendType = AIKCtrl.IKBlendType.IK_To_Detach;
				}
				else if (!string.IsNullOrEmpty(this.curTargetData.tgtAttachName))
				{
					flag = (this.isTargetChange = (this.curTargetData.lastAttachName != this.curTargetData.tgtAttachName || this.curTargetData.lastTgtChara != this.curTargetData.targetChara));
				}
				else
				{
					flag = (this.isTargetChange = true);
				}
				flag |= (num > 0.1f || this.lastAnmOffset != Vector3.zero);
			}
			else
			{
				this.blendType = AIKCtrl.IKBlendType.Detach_To_IK;
				flag = (this.isTargetChange = this.curTargetData.isExistTarget);
			}
			if (!flag)
			{
				this.blendType = AIKCtrl.IKBlendType.Not_Blend;
			}
		}

		public void BlendReset()
		{
			this.elapsedTime = 0f;
			this.isBlendEnd = false;
			this.blendType = AIKCtrl.IKBlendType.Not_Blend;
		}

		public void BlendEnd()
		{
			this.elapsedTime = 0f;
			this.isBlendEnd = true;
			this.blendType = AIKCtrl.IKBlendType.Not_Blend;
		}

		public void SetBlendType(AIKCtrl.IKBlendType blend_type)
		{
			if (!this.isBlendEnd)
			{
				this.blendType = blend_type;
			}
		}

		public AIKCtrl.IKTargetData GetTgtData(AIKCtrl.IKExecTiming exec_timing)
		{
			if (exec_timing == AIKCtrl.IKExecTiming.FlagPositive)
			{
				return this.FlagPositiveTgtData;
			}
			if (exec_timing != AIKCtrl.IKExecTiming.FlagNegative)
			{
				return this.NormalTgtData;
			}
			return this.FlagNegativeTgtData;
		}

		public void SetIKSetting(IKAttachParam param)
		{
			this.BlendReset();
			this.doAnimation = param.doAnimation;
			this.lastAnmOffset = this.anmOffset;
			this.anmOffset = Vector3.zero;
			this.isIKExec = true;
			this.IsFirstFrame = true;
			this.GetTgtData(param.execTiming).SetIKSetting(param, this.attachType == AIKCtrl.IKAttachType.Rotate);
			this.CheckBlendType();
			this.ChangeFlagData.IsFlagChange();
		}

		public void Detach()
		{
			this.BlendReset();
			this.NormalTgtData.Detach();
			this.FlagPositiveTgtData.Detach();
			this.FlagNegativeTgtData.Detach();
			this.CheckBlendType();
			this.ChangeFlagData.Reset();
			this.isOffsetSetEnd = false;
			this.isPosRotSetEnd = false;
			this.doAnimation = false;
			this.anmOffset = (this.lastAnmOffset = Vector3.zero);
			this.isIKExec = false;
			this.IsFirstFrame = false;
			this.isSetFirstFramePosRot = false;
		}

		public void CheckFirstFrame()
		{
			if (!this.isBlendNow)
			{
				this.IsFirstFrame = false;
			}
		}

		[HideInInspector]
		public FullBodyIKMgr ikCtrl;

		public AIKCtrl.IKAttachType attachType;

		[Header("各ターゲット情報")]
		[SerializeField]
		private AIKCtrl.IKTargetData NormalTgtData = new AIKCtrl.IKTargetData();

		[SerializeField]
		private AIKCtrl.IKTargetData FlagPositiveTgtData = new AIKCtrl.IKTargetData();

		[SerializeField]
		private AIKCtrl.IKTargetData FlagNegativeTgtData = new AIKCtrl.IKTargetData();

		[Space]
		public AIKCtrl.Vec3Enable offsetEnable;

		[SerializeField]
		[Header("IKターゲットを切り替えのフラグ情報")]
		private AIKCtrl.ChangeFlagData ChangeFlagData = new AIKCtrl.ChangeFlagData();

		[Header("実行してるか")]
		public bool isIKExec;

		public float blendTime = 0.5f;

		[Space]
		public float elapsedTime;

		private bool IsFirstFrame;

		public bool doAnimation;

		public Vector3 anmOffset = Vector3.zero;

		public Vector3 lastAnmOffset = Vector3.zero;

		[Space]
		[Range(0f, 1f)]
		public float weight;

		[HideInInspector]
		public bool isPosRotSetEnd;

		[HideInInspector]
		public bool isOffsetSetEnd;

		[HideInInspector]
		public bool isSetFirstFramePosRot;
	}
}