using System;
using UnityEngine;

namespace PhysicsTools
{
	public class Winch : MonoBehaviour
	{
		public float brakeForce;

		public float heaveTorque;

		public float tensionTorque;

		public float radius;

		public float length;

		public float inertia;

		public float maxRopeLength;

		public float minRopeLength;

		public float rpm;

		public float maxRPM;

		private float omega;

		public Rope rope;

		public Winch()
		{
			radius = 1f;
			length = 1f;
			maxRPM = 1f;
			omega = 0f;
		}

		private void FixedUpdate()
		{
			float fixedDeltaTime = Time.fixedDeltaTime;
			float num = tensionTorqueValue() - heaveTorque;
			float num2 = num / inertia;
			float num3 = brakeForce * radius / inertia;
			float num4 = omega + num2 * fixedDeltaTime;
			if ((num2 < 0f && rope.getLength() > minRopeLength) || (num2 > 0f && num2 > num3 && rope.getLength() < maxRopeLength))
			{
				if (num4 > 0f && num4 - num3 * fixedDeltaTime < 0f)
				{
					num4 = 0f;
				}
				else if (num4 < 0f && num4 + num3 * fixedDeltaTime > 0f)
				{
					num4 = 0f;
				}
				else if (num4 > 0f)
				{
					num4 -= num3 * fixedDeltaTime;
				}
				else if (num4 < 0f)
				{
					num4 += num3 * fixedDeltaTime;
				}
				omega = num4;
				rope.changeLength(getLinearSpeed() * fixedDeltaTime);
			}
			else
			{
				omega = 0f;
			}
			rpm = omega / 6.28318f * 60f;
			if (Math.Abs(rpm) > maxRPM)
			{
				if (rpm < 0f)
				{
					rpm = 0f - maxRPM;
				}
				else
				{
					rpm = maxRPM;
				}
			}
			omega = rpm / 60f * 6.28318f;
		}

		private float tensionTorqueValue()
		{
			tensionTorque = radius * getTension();
			return tensionTorque;
		}

		private float getLinearSpeed()
		{
			return omega * radius;
		}

		private float getTension()
		{
			return rope.getTension();
		}
	}
}