using System;
using System.Reflection;
using UnityEngine;

namespace RootMotion
{
	public class AvatarUtility
	{
		public static Quaternion GetPostRotation(Avatar avatar, AvatarIKGoal avatarIKGoal)
		{
			int num = (int)HumanIDFromAvatarIKGoal(avatarIKGoal);
			if (num == 55)
			{
				throw new InvalidOperationException("Invalid human id.");
			}
			MethodInfo method = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic);
			if (method == null)
			{
				throw new InvalidOperationException("Cannot find GetPostRotation method.");
			}
			return (Quaternion)method.Invoke(avatar, new object[1] { num });
		}

		public static TQ GetIKGoalTQ(Avatar avatar, float humanScale, AvatarIKGoal avatarIKGoal, TQ bodyPositionRotation, TQ boneTQ)
		{
			int num = (int)HumanIDFromAvatarIKGoal(avatarIKGoal);
			if (num == 55)
			{
				throw new InvalidOperationException("Invalid human id.");
			}
			MethodInfo method = typeof(Avatar).GetMethod("GetAxisLength", BindingFlags.Instance | BindingFlags.NonPublic);
			if (method == null)
			{
				throw new InvalidOperationException("Cannot find GetAxisLength method.");
			}
			MethodInfo method2 = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic);
			if (method2 == null)
			{
				throw new InvalidOperationException("Cannot find GetPostRotation method.");
			}
			Quaternion quaternion = (Quaternion)method2.Invoke(avatar, new object[1] { num });
			TQ tQ = new TQ(boneTQ.t, boneTQ.q * quaternion);
			if (avatarIKGoal == AvatarIKGoal.LeftFoot || avatarIKGoal == AvatarIKGoal.RightFoot)
			{
				float x = (float)method.Invoke(avatar, new object[1] { num });
				Vector3 vector = new Vector3(x, 0f, 0f);
				tQ.t += tQ.q * vector;
			}
			Quaternion quaternion2 = Quaternion.Inverse(bodyPositionRotation.q);
			tQ.t = quaternion2 * (tQ.t - bodyPositionRotation.t);
			tQ.q = quaternion2 * tQ.q;
			tQ.t /= humanScale;
			tQ.q = Quaternion.LookRotation(tQ.q * Vector3.forward, tQ.q * Vector3.up);
			return tQ;
		}

		public static TQ WorldSpaceIKGoalToBone(TQ goalTQ, Avatar avatar, AvatarIKGoal avatarIKGoal)
		{
			int num = (int)HumanIDFromAvatarIKGoal(avatarIKGoal);
			if (num == 55)
			{
				throw new InvalidOperationException("Invalid human id.");
			}
			MethodInfo method = typeof(Avatar).GetMethod("GetAxisLength", BindingFlags.Instance | BindingFlags.NonPublic);
			if (method == null)
			{
				throw new InvalidOperationException("Cannot find GetAxisLength method.");
			}
			MethodInfo method2 = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic);
			if (method2 == null)
			{
				throw new InvalidOperationException("Cannot find GetPostRotation method.");
			}
			Quaternion rotation = (Quaternion)method2.Invoke(avatar, new object[1] { num });
			if (avatarIKGoal == AvatarIKGoal.LeftFoot || avatarIKGoal == AvatarIKGoal.RightFoot)
			{
				float x = (float)method.Invoke(avatar, new object[1] { num });
				Vector3 vector = new Vector3(x, 0f, 0f);
				goalTQ.t -= goalTQ.q * vector;
			}
			return new TQ(goalTQ.t, goalTQ.q * Quaternion.Inverse(rotation));
		}

		public static TQ GetWorldSpaceIKGoal(BakerHumanoidQT ikQT, BakerHumanoidQT rootQT, float time, float humanScale)
		{
			TQ tQ = ikQT.Evaluate(time);
			TQ tQ2 = rootQT.Evaluate(time);
			tQ.q = tQ2.q * tQ.q;
			tQ.t = tQ2.t + tQ2.q * tQ.t;
			tQ.t *= humanScale;
			return tQ;
		}

		public static HumanBodyBones HumanIDFromAvatarIKGoal(AvatarIKGoal avatarIKGoal)
		{
			return avatarIKGoal switch
			{
				AvatarIKGoal.LeftFoot => HumanBodyBones.LeftFoot, 
				AvatarIKGoal.RightFoot => HumanBodyBones.RightFoot, 
				AvatarIKGoal.LeftHand => HumanBodyBones.LeftHand, 
				AvatarIKGoal.RightHand => HumanBodyBones.RightHand, 
				_ => HumanBodyBones.LastBone, 
			};
		}
	}
}