using UnityEngine;

namespace PhysicsTools
{
	public class Joint
	{
		public UnityEngine.Joint joint;

		public Joint(Segment seg1, Segment seg2, JointProperties prop, SegmentPropertiesBase segProperties, Quaternion twistOffset)
		{
			if (seg2 == null)
			{
			}
			seg2.seg.transform.rotation = seg2.seg.transform.rotation * twistOffset;
			switch (prop.type)
			{
			case JointProperties.Type.HINGE_JOINT:
			{
				HingeJoint hingeJoint = seg1.seg.AddComponent<HingeJoint>();
				hingeJoint.autoConfigureConnectedAnchor = false;
				joint = hingeJoint;
				JointLimits limits = new JointLimits
				{
					min = 0f - prop.swingLimitDeg,
					max = prop.swingLimitDeg
				};
				joint.axis = new Vector3(0f, 0f, 1f);
				hingeJoint.limits = limits;
				break;
			}
			case JointProperties.Type.CONFIGURABLE_JOINT:
			{
				ConfigurableJoint configurableJoint = seg1.seg.AddComponent<ConfigurableJoint>();
				configurableJoint.enableCollision = false;
				configurableJoint.xMotion = ConfigurableJointMotion.Locked;
				configurableJoint.yMotion = ConfigurableJointMotion.Locked;
				configurableJoint.zMotion = ConfigurableJointMotion.Locked;
				configurableJoint.angularXMotion = ConfigurableJointMotion.Limited;
				configurableJoint.angularYMotion = ConfigurableJointMotion.Limited;
				configurableJoint.angularZMotion = ConfigurableJointMotion.Limited;
				configurableJoint.autoConfigureConnectedAnchor = false;
				configurableJoint.lowAngularXLimit = new SoftJointLimit
				{
					limit = 0f - prop.twistLimitDeg
				};
				configurableJoint.highAngularXLimit = new SoftJointLimit
				{
					limit = prop.twistLimitDeg
				};
				configurableJoint.projectionMode = JointProjectionMode.PositionAndRotation;
				configurableJoint.projectionDistance = prop.projectionDistance;
				SoftJointLimit softJointLimit = new SoftJointLimit
				{
					limit = prop.swingLimitDeg
				};
				configurableJoint.angularYLimit = softJointLimit;
				configurableJoint.angularZLimit = softJointLimit;
				joint = configurableJoint;
				joint.axis = new Vector3(0f, 1f, 0f);
				if (prop.breakingForce != 0f)
				{
					configurableJoint.breakForce = prop.breakingForce;
				}
				configurableJoint.enablePreprocessing = false;
				break;
			}
			}
			if (segProperties is SegmentPropertiesCylinder)
			{
				joint.anchor = new Vector3(0f, 1f - prop.offsetScale, 0f);
				joint.connectedAnchor = new Vector3(0f, -1f + prop.offsetScale, 0f);
			}
			else
			{
				joint.anchor = new Vector3(0f, (1f - prop.offsetScale) / 2f, 0f);
				joint.connectedAnchor = new Vector3(0f, (-1f + prop.offsetScale) / 2f, 0f);
			}
			joint.connectedBody = seg2.seg.GetComponent<Rigidbody>();
		}

		public Joint(GameObject seg1, GameObject seg2, Vector3 vGlobalAnchor, Vector3 vGlobalAxis, JointProperties prop, Rope r, int jtPos)
		{
			ConfigurableJoint configurableJoint = seg1.AddComponent<ConfigurableJoint>();
			configurableJoint.enableCollision = false;
			configurableJoint.xMotion = ConfigurableJointMotion.Limited;
			configurableJoint.yMotion = ConfigurableJointMotion.Limited;
			configurableJoint.zMotion = ConfigurableJointMotion.Limited;
			configurableJoint.angularXMotion = ConfigurableJointMotion.Limited;
			configurableJoint.angularYMotion = ConfigurableJointMotion.Free;
			configurableJoint.angularZMotion = ConfigurableJointMotion.Free;
			configurableJoint.anchor = seg1.transform.InverseTransformPoint(vGlobalAnchor);
			configurableJoint.axis = seg1.transform.InverseTransformDirection(vGlobalAxis);
			if (seg2 != null)
			{
				configurableJoint.connectedBody = seg2.GetComponent<Rigidbody>();
			}
			SoftJointLimit linearLimit = new SoftJointLimit
			{
				limit = 0.01f
			};
			SoftJointLimitSpring linearLimitSpring = default(SoftJointLimitSpring);
			switch (jtPos)
			{
			case 0:
				linearLimitSpring = r.getStartJtSpring();
				break;
			case 1:
				linearLimitSpring = r.getEndJtSpring();
				break;
			default:
			{
				float damper = (linearLimitSpring.spring = 0f);
				linearLimitSpring.damper = damper;
				break;
			}
			}
			if (linearLimitSpring.spring == 0f)
			{
				linearLimit.limit = 0f;
			}
			configurableJoint.linearLimitSpring = linearLimitSpring;
			configurableJoint.linearLimit = linearLimit;
			configurableJoint.projectionMode = JointProjectionMode.PositionAndRotation;
			configurableJoint.projectionDistance = prop.projectionDistanceFirst;
			configurableJoint.lowAngularXLimit = new SoftJointLimit
			{
				limit = 0f - prop.twistLimitDeg
			};
			configurableJoint.highAngularXLimit = new SoftJointLimit
			{
				limit = prop.twistLimitDeg
			};
			if (prop.breakingForce != 0f)
			{
				configurableJoint.breakForce = prop.breakingForce;
			}
			joint = configurableJoint;
			configurableJoint.autoConfigureConnectedAnchor = false;
			configurableJoint.enablePreprocessing = false;
		}
	}
}