using System;
using System.Collections.Generic;
using UnityEngine;

public class LocalAvoidance : MonoBehaviour
{
	[SerializeField]
	private Transform target;

	[SerializeField]
	private Transform root;

	[SerializeField]
	private LayerMask avoidanceLayerMask;

	[SerializeField]
	private LayerMask lureMask;

	[SerializeField]
	private float distance = 3f;

	[SerializeField]
	private int rays = 3;

	[SerializeField]
	private float moveSpeed = 1f;

	[SerializeField]
	private float rotateSpeed = 4f;

	[SerializeField]
	private float rotateDelay = 0.1f;

	[SerializeField]
	private float debugAngle = 280f;

	[SerializeField]
	private Transform tailRag;

	public bool IsEnabled = true;

	private static float baitCheckRadius = 0.5f;

	private static float lureCheckRadius = 3f;

	private static float lureCheckDistance = 10f;

	private float keepDirectionDuration = 2f;

	private float keepDirectionTimer;

	private static RaycastHit[] hits = new RaycastHit[1];

	private Rigidbody rb;

	private bool surfacePushAway = true;

	private bool bottomPushAway = true;

	private Vector3 moveDir;

	private Vector3 sensorDirection;

	public bool IsUpdateEnabled;

	private bool IsOnSurface => !GameWaterSystem.IsPositionUnderWater(base.transform.position + (SurfacePushAway ? (Vector3.up * 0.5f) : Vector3.zero));

	public float MoveSpeed
	{
		get
		{
			return moveSpeed;
		}
		set
		{
			moveSpeed = value;
		}
	}

	public Transform TailRag
	{
		get
		{
			return tailRag;
		}
		set
		{
			tailRag = value;
		}
	}

	public Transform Target
	{
		get
		{
			return target;
		}
		set
		{
			target = value;
		}
	}

	public bool SurfacePushAway
	{
		get
		{
			return surfacePushAway;
		}
		set
		{
			surfacePushAway = value;
		}
	}

	public bool BottomPushAway
	{
		get
		{
			return bottomPushAway;
		}
		set
		{
			bottomPushAway = value;
		}
	}

	public float KeepDirectionDuration
	{
		get
		{
			return keepDirectionDuration;
		}
		set
		{
			keepDirectionDuration = value;
		}
	}

	public event Action<RaycastHit> OnLureHit;

	private void Start()
	{
		root = base.transform.GetChild(0);
		sensorDirection = base.transform.forward;
		rb = GetComponent<Rigidbody>();
		avoidanceLayerMask = LayerMask.GetMask("Default", "Terrain", "UnderwaterObject", "Bridges");
		lureMask = LayerMask.GetMask("BaitLure");
	}

	public void ResetRoot()
	{
		base.transform.rotation = root.rotation;
		root.localEulerAngles = Vector3.zero;
	}

	private void FixedUpdate()
	{
		if (!(target == null) && IsEnabled)
		{
			Vector3 position = base.transform.position;
			moveDir = Vector3.zero;
			Raycasting();
			Quaternion b = ((sensorDirection == Vector3.zero) ? base.transform.rotation : Quaternion.LookRotation(sensorDirection));
			float num = Quaternion.Angle(root.rotation, b);
			Vector3 vector = Vector3.Cross(root.forward, sensorDirection);
			float num2 = num / 90f;
			Vector3 localPosition = tailRag.localPosition;
			localPosition.x = ((vector.y < 0f) ? (0f - num2) : num2);
			tailRag.localPosition = localPosition;
			rb.AddForce(sensorDirection * MoveSpeed, ForceMode.Acceleration);
			root.rotation = Quaternion.Lerp(root.rotation, b, Time.deltaTime * rotateSpeed);
			Vector3.Distance(base.transform.position, position);
		}
	}

	private void Raycasting()
	{
		UpdateRaycasting();
	}

	private void UpdateRaycasting()
	{
		if (!IsUpdateEnabled)
		{
			return;
		}
		IsUpdateEnabled = false;
		sensorDirection = GetPassageDirection();
		Debug.DrawLine(base.transform.position, base.transform.position + sensorDirection, Color.yellow);
		if (Physics.SphereCastNonAlloc(base.transform.position, baitCheckRadius, root.forward, hits, lureCheckDistance, lureMask) > 0)
		{
			if (hits[0].transform.CompareTag("BaitLure"))
			{
				this.OnLureHit?.Invoke(hits[0]);
			}
		}
		else if (Physics.SphereCastNonAlloc(base.transform.position, lureCheckRadius, root.forward, hits, lureCheckDistance, lureMask) > 0 && hits[0].transform.CompareTag("BaitLure") && hits[0].collider.GetComponent<FLure>() != null)
		{
			this.OnLureHit?.Invoke(hits[0]);
		}
	}

	private Vector3 GetPassageDirection()
	{
		Vector3 hitPoint = target.position - base.transform.position;
		Vector3 toTargetForward = hitPoint.normalized;
		float b = Vector3.Distance(target.position, base.transform.position) * 0.7f;
		float a = Mathf.Max(distance, MoveSpeed);
		a = Mathf.Min(a, b);
		Vector3 result = toTargetForward;
		Vector3 hitNormal;
		Vector3 perpendicular;
		List<Vector3> dirList;
		if (Time.time - keepDirectionTimer < 0f)
		{
			result = sensorDirection;
		}
		else
		{
			hitNormal = Vector3.zero;
			Vector3 hitPoint2 = Vector3.zero;
			bool num = RaycastForObstacles(toTargetForward, a, out hitNormal, out hitPoint2);
			bool flag = false;
			if (!num)
			{
				flag = RaycastForObstacles(maxDistance: Mathf.Min(bottomPushAway ? 0.3f : 0.05f, b), direction: -Vector3.up, hitNormal: out hitNormal, hitPoint: out hitPoint2);
			}
			if (num || flag)
			{
				Vector3 lhs = ((Mathf.Abs(Vector3.Dot(hitNormal, Vector3.up)) < 0.99f) ? Vector3.up : Vector3.right);
				hitPoint = Vector3.Cross(lhs, hitNormal);
				perpendicular = hitPoint.normalized;
				dirList = new List<Vector3>();
				dirList.Add(hitNormal);
				AddDirectionsAround(30f);
				AddDirectionsAround(70f);
				dirList.Sort(delegate(Vector3 rhs, Vector3 rhs2)
				{
					float value = Vector3.Dot(toTargetForward, rhs);
					return Vector3.Dot(toTargetForward, rhs2).CompareTo(value);
				});
				foreach (Vector3 item in dirList)
				{
					if (!RaycastForObstacles(item, a, out hitPoint, out var _))
					{
						result = item;
						break;
					}
				}
				keepDirectionTimer = Time.time + KeepDirectionDuration;
			}
		}
		if (IsOnSurface)
		{
			Vector3 hitPoint3 = new Vector3(root.forward.x, 0f, root.forward.z).normalized * 3f + Vector3.down;
			Vector3 normalized = hitPoint3.normalized;
			if (!RaycastForObstacles(normalized, a, out hitPoint3, out hitPoint))
			{
				result = normalized;
			}
		}
		return result;
		void AddDirectionsAround(float angle)
		{
			for (int i = 0; i < 4; i++)
			{
				Vector3 vector = hitNormal;
				vector = Quaternion.AngleAxis(angle, perpendicular) * vector;
				vector = Quaternion.AngleAxis(90f * (float)i, hitNormal) * vector;
				vector.Normalize();
				dirList.Add(vector);
			}
		}
	}

	private bool RaycastForObstacles(Vector3 direction, float maxDistance, out Vector3 hitNormal, out Vector3 hitPoint, float originBackwardOffset = 0.3f)
	{
		Vector3 origin = -direction * originBackwardOffset + base.transform.position;
		maxDistance += originBackwardOffset;
		bool num = Physics.RaycastNonAlloc(origin, direction, hits, maxDistance, avoidanceLayerMask) > 0;
		if (num)
		{
			hitNormal = hits[0].normal;
			hitPoint = hits[0].point;
			return num;
		}
		hitNormal = Vector3.zero;
		hitPoint = Vector3.zero;
		return num;
	}
}