using System;
using UnityEngine;

namespace RootMotion.FinalIK
{
	[Serializable]
	public class BipedIKSolvers
	{
		public IKSolverLimb leftFoot = new IKSolverLimb(AvatarIKGoal.LeftFoot);

		public IKSolverLimb rightFoot = new IKSolverLimb(AvatarIKGoal.RightFoot);

		public IKSolverLimb leftHand = new IKSolverLimb(AvatarIKGoal.LeftHand);

		public IKSolverLimb rightHand = new IKSolverLimb(AvatarIKGoal.RightHand);

		public IKSolverFABRIK spine = new IKSolverFABRIK();

		public IKSolverLookAt lookAt = new IKSolverLookAt();

		public IKSolverAim aim = new IKSolverAim();

		public Constraints pelvis = new Constraints();

		private IKSolverLimb[] _limbs;

		private IKSolver[] _ikSolvers;

		public IKSolverLimb[] limbs
		{
			get
			{
				if (_limbs == null || (_limbs != null && _limbs.Length != 4))
				{
					_limbs = new IKSolverLimb[4] { leftFoot, rightFoot, leftHand, rightHand };
				}
				return _limbs;
			}
		}

		public IKSolver[] ikSolvers
		{
			get
			{
				if (_ikSolvers == null || (_ikSolvers != null && _ikSolvers.Length != 7))
				{
					_ikSolvers = new IKSolver[7] { leftFoot, rightFoot, leftHand, rightHand, spine, lookAt, aim };
				}
				return _ikSolvers;
			}
		}

		public void AssignReferences(BipedReferences references)
		{
			leftHand.SetChain(references.leftUpperArm, references.leftForearm, references.leftHand, references.root);
			rightHand.SetChain(references.rightUpperArm, references.rightForearm, references.rightHand, references.root);
			leftFoot.SetChain(references.leftThigh, references.leftCalf, references.leftFoot, references.root);
			rightFoot.SetChain(references.rightThigh, references.rightCalf, references.rightFoot, references.root);
			spine.SetChain(references.spine, references.root);
			lookAt.SetChain(references.spine, references.head, references.eyes, references.root);
			aim.SetChain(references.spine, references.root);
			leftFoot.goal = AvatarIKGoal.LeftFoot;
			rightFoot.goal = AvatarIKGoal.RightFoot;
			leftHand.goal = AvatarIKGoal.LeftHand;
			rightHand.goal = AvatarIKGoal.RightHand;
		}
	}
}