using System;
using UnityEngine;

namespace RootMotion.Demos
{
	public class MechSpider : MonoBehaviour
	{
		public LayerMask raycastLayers;

		public float scale = 1f;

		public Transform body;

		public MechSpiderLeg[] legs;

		public float legRotationWeight = 1f;

		public float rootPositionSpeed = 5f;

		public float rootRotationSpeed = 30f;

		public float breatheSpeed = 2f;

		public float breatheMagnitude = 0.2f;

		public float height = 3.5f;

		public float minHeight = 2f;

		public float raycastHeight = 10f;

		public float raycastDistance = 5f;

		private Vector3 lastPosition;

		private Vector3 defaultBodyLocalPosition;

		private float sine;

		private RaycastHit rootHit;

		private void Update()
		{
			Vector3 legsPlaneNormal = GetLegsPlaneNormal();
			Quaternion quaternion = Quaternion.FromToRotation(base.transform.up, legsPlaneNormal);
			base.transform.rotation = Quaternion.Slerp(base.transform.rotation, quaternion * base.transform.rotation, Time.deltaTime * rootRotationSpeed);
			Vector3 vector = Vector3.Project(GetLegCentroid() + base.transform.up * height * scale - base.transform.position, base.transform.up);
			base.transform.position += vector * Time.deltaTime * (rootPositionSpeed * scale);
			if (Physics.Raycast(base.transform.position + base.transform.up * raycastHeight * scale, -base.transform.up, out rootHit, raycastHeight * scale + raycastDistance * scale, raycastLayers))
			{
				rootHit.distance -= raycastHeight * scale + minHeight * scale;
				if (rootHit.distance < 0f)
				{
					Vector3 b = base.transform.position - base.transform.up * rootHit.distance;
					base.transform.position = Vector3.Lerp(base.transform.position, b, Time.deltaTime * rootPositionSpeed * scale);
				}
			}
			sine += Time.deltaTime * breatheSpeed;
			if (sine >= MathF.PI * 2f)
			{
				sine -= MathF.PI * 2f;
			}
			float num = Mathf.Sin(sine) * breatheMagnitude * scale;
			Vector3 vector2 = base.transform.up * num;
			body.transform.position = base.transform.position + vector2;
		}

		private Vector3 GetLegCentroid()
		{
			Vector3 zero = Vector3.zero;
			float num = 1f / (float)legs.Length;
			for (int i = 0; i < legs.Length; i++)
			{
				zero += legs[i].position * num;
			}
			return zero;
		}

		private Vector3 GetLegsPlaneNormal()
		{
			Vector3 vector = base.transform.up;
			if (legRotationWeight <= 0f)
			{
				return vector;
			}
			float t = 1f / Mathf.Lerp(legs.Length, 1f, legRotationWeight);
			for (int i = 0; i < legs.Length; i++)
			{
				Vector3 vector2 = legs[i].position - (base.transform.position - base.transform.up * height * scale);
				Vector3 normal = base.transform.up;
				Vector3 tangent = vector2;
				Vector3.OrthoNormalize(ref normal, ref tangent);
				Quaternion b = Quaternion.FromToRotation(tangent, vector2);
				b = Quaternion.Lerp(Quaternion.identity, b, t);
				vector = b * vector;
			}
			return vector;
		}
	}
}