using System;
using UnityEngine;

namespace RootMotion.FinalIK
{
	[Serializable]
	public abstract class IKSolver
	{
		[Serializable]
		public class Point
		{
			public Transform transform;

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

			public Vector3 solverPosition;

			public Quaternion solverRotation = Quaternion.identity;

			public Vector3 defaultLocalPosition;

			public Quaternion defaultLocalRotation;

			public void StoreDefaultLocalState()
			{
				defaultLocalPosition = transform.localPosition;
				defaultLocalRotation = transform.localRotation;
			}

			public void FixTransform()
			{
				if (transform.localPosition != defaultLocalPosition)
				{
					transform.localPosition = defaultLocalPosition;
				}
				if (transform.localRotation != defaultLocalRotation)
				{
					transform.localRotation = defaultLocalRotation;
				}
			}

			public void UpdateSolverPosition()
			{
				solverPosition = transform.position;
			}

			public void UpdateSolverLocalPosition()
			{
				solverPosition = transform.localPosition;
			}

			public void UpdateSolverState()
			{
				solverPosition = transform.position;
				solverRotation = transform.rotation;
			}

			public void UpdateSolverLocalState()
			{
				solverPosition = transform.localPosition;
				solverRotation = transform.localRotation;
			}
		}

		[Serializable]
		public class Bone : Point
		{
			public float length;

			public float sqrMag;

			public Vector3 axis = -Vector3.right;

			private RotationLimit _rotationLimit;

			private bool isLimited = true;

			public RotationLimit rotationLimit
			{
				get
				{
					if (!isLimited)
					{
						return null;
					}
					if (_rotationLimit == null)
					{
						_rotationLimit = transform.GetComponent<RotationLimit>();
					}
					isLimited = _rotationLimit != null;
					return _rotationLimit;
				}
				set
				{
					_rotationLimit = value;
					isLimited = value != null;
				}
			}

			public void Swing(Vector3 swingTarget, float weight = 1f)
			{
				if (!(weight <= 0f))
				{
					Quaternion quaternion = Quaternion.FromToRotation(transform.rotation * axis, swingTarget - transform.position);
					if (weight >= 1f)
					{
						transform.rotation = quaternion * transform.rotation;
					}
					else
					{
						transform.rotation = Quaternion.Lerp(Quaternion.identity, quaternion, weight) * transform.rotation;
					}
				}
			}

			public static void SolverSwing(Bone[] bones, int index, Vector3 swingTarget, float weight = 1f)
			{
				if (weight <= 0f)
				{
					return;
				}
				Quaternion quaternion = Quaternion.FromToRotation(bones[index].solverRotation * bones[index].axis, swingTarget - bones[index].solverPosition);
				if (weight >= 1f)
				{
					for (int i = index; i < bones.Length; i++)
					{
						bones[i].solverRotation = quaternion * bones[i].solverRotation;
					}
				}
				else
				{
					for (int j = index; j < bones.Length; j++)
					{
						bones[j].solverRotation = Quaternion.Lerp(Quaternion.identity, quaternion, weight) * bones[j].solverRotation;
					}
				}
			}

			public void Swing2D(Vector3 swingTarget, float weight = 1f)
			{
				if (!(weight <= 0f))
				{
					Vector3 vector = transform.rotation * axis;
					Vector3 vector2 = swingTarget - transform.position;
					float current = Mathf.Atan2(vector.x, vector.y) * 57.29578f;
					float target = Mathf.Atan2(vector2.x, vector2.y) * 57.29578f;
					transform.rotation = Quaternion.AngleAxis(Mathf.DeltaAngle(current, target) * weight, Vector3.back) * transform.rotation;
				}
			}

			public void SetToSolverPosition()
			{
				transform.position = solverPosition;
			}

			public Bone()
			{
			}

			public Bone(Transform transform)
			{
				base.transform = transform;
			}

			public Bone(Transform transform, float weight)
			{
				base.transform = transform;
				base.weight = weight;
			}
		}

		[Serializable]
		public class Node : Point
		{
			public float length;

			public float effectorPositionWeight;

			public float effectorRotationWeight;

			public Vector3 offset;

			public Node()
			{
			}

			public Node(Transform transform)
			{
				base.transform = transform;
			}

			public Node(Transform transform, float weight)
			{
				base.transform = transform;
				base.weight = weight;
			}
		}

		public delegate void UpdateDelegate();

		public delegate void IterationDelegate(int i);

		[HideInInspector]
		public bool executedInEditor;

		[HideInInspector]
		public Vector3 IKPosition;

		[Tooltip("The positional or the master weight of the solver.")]
		[Range(0f, 1f)]
		public float IKPositionWeight = 1f;

		public UpdateDelegate OnPreInitiate;

		public UpdateDelegate OnPostInitiate;

		public UpdateDelegate OnPreUpdate;

		public UpdateDelegate OnPostUpdate;

		protected bool firstInitiation = true;

		[SerializeField]
		[HideInInspector]
		protected Transform root;

		public bool initiated { get; private set; }

		public bool IsValid()
		{
			string message = string.Empty;
			return IsValid(ref message);
		}

		public abstract bool IsValid(ref string message);

		public void Initiate(Transform root)
		{
			if (executedInEditor)
			{
				return;
			}
			if (OnPreInitiate != null)
			{
				OnPreInitiate();
			}
			if (root == null)
			{
				Debug.LogError("Initiating IKSolver with null root Transform.");
			}
			this.root = root;
			initiated = false;
			string message = string.Empty;
			if (!IsValid(ref message))
			{
				Warning.Log(message, root);
				return;
			}
			OnInitiate();
			StoreDefaultLocalState();
			initiated = true;
			firstInitiation = false;
			if (OnPostInitiate != null)
			{
				OnPostInitiate();
			}
		}

		public void Update()
		{
			if (OnPreUpdate != null)
			{
				OnPreUpdate();
			}
			if (firstInitiation)
			{
				Initiate(root);
			}
			if (initiated)
			{
				OnUpdate();
				if (OnPostUpdate != null)
				{
					OnPostUpdate();
				}
			}
		}

		public virtual Vector3 GetIKPosition()
		{
			return IKPosition;
		}

		public void SetIKPosition(Vector3 position)
		{
			IKPosition = position;
		}

		public float GetIKPositionWeight()
		{
			return IKPositionWeight;
		}

		public void SetIKPositionWeight(float weight)
		{
			IKPositionWeight = Mathf.Clamp(weight, 0f, 1f);
		}

		public Transform GetRoot()
		{
			return root;
		}

		public abstract Point[] GetPoints();

		public abstract Point GetPoint(Transform transform);

		public abstract void FixTransforms();

		public abstract void StoreDefaultLocalState();

		protected abstract void OnInitiate();

		protected abstract void OnUpdate();

		protected void LogWarning(string message)
		{
			Warning.Log(message, root, logInEditMode: true);
		}

		public static Transform ContainsDuplicateBone(Bone[] bones)
		{
			for (int i = 0; i < bones.Length; i++)
			{
				for (int j = 0; j < bones.Length; j++)
				{
					if (i != j && bones[i].transform == bones[j].transform)
					{
						return bones[i].transform;
					}
				}
			}
			return null;
		}

		public static bool HierarchyIsValid(Bone[] bones)
		{
			for (int i = 1; i < bones.Length; i++)
			{
				if (!Hierarchy.IsAncestor(bones[i].transform, bones[i - 1].transform))
				{
					return false;
				}
			}
			return true;
		}

		protected static float PreSolveBones(ref Bone[] bones)
		{
			float num = 0f;
			for (int i = 0; i < bones.Length; i++)
			{
				bones[i].solverPosition = bones[i].transform.position;
				bones[i].solverRotation = bones[i].transform.rotation;
			}
			for (int j = 0; j < bones.Length; j++)
			{
				if (j < bones.Length - 1)
				{
					bones[j].sqrMag = (bones[j + 1].solverPosition - bones[j].solverPosition).sqrMagnitude;
					bones[j].length = Mathf.Sqrt(bones[j].sqrMag);
					num += bones[j].length;
					bones[j].axis = Quaternion.Inverse(bones[j].solverRotation) * (bones[j + 1].solverPosition - bones[j].solverPosition);
				}
				else
				{
					bones[j].sqrMag = 0f;
					bones[j].length = 0f;
				}
			}
			return num;
		}
	}
}