using System;
using Cpp2IlInjected;
using UnityEngine;

namespace RootMotion.FinalIK
{
	// Token: 0x02000409 RID: 1033
	[Token(Token = "0x2000409")]
	[HelpURL("http://www.root-motion.com/finalikdox/html/page11.html")]
	[AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder Quadruped")]
	public class GrounderQuadruped : Grounder
	{
		// Token: 0x060024CE RID: 9422 RVA: 0x00053B20 File Offset: 0x00051D20
		[Token(Token = "0x60024CE")]
		[Address(RVA = "0x11DC3F0", Offset = "0x11DABF0", VA = "0x1811DC3F0", Slot = "5")]
		[ContextMenu("User Manual")]
		protected override void OpenUserManual()
		{
			Application.OpenURL("http://www.root-motion.com/finalikdox/html/page11.html");
		}

		// Token: 0x060024CF RID: 9423 RVA: 0x00053B38 File Offset: 0x00051D38
		[Token(Token = "0x60024CF")]
		[Address(RVA = "0x11DC3B0", Offset = "0x11DABB0", VA = "0x1811DC3B0", Slot = "6")]
		[ContextMenu("Scrpt Reference")]
		protected override void OpenScriptReference()
		{
			Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_quadruped.html");
		}

		// Token: 0x060024D0 RID: 9424 RVA: 0x00053B50 File Offset: 0x00051D50
		[Token(Token = "0x60024D0")]
		[Address(RVA = "0x11DC430", Offset = "0x11DAC30", VA = "0x1811DC430", Slot = "4")]
		public override void ResetPosition()
		{
			this.solver.Reset();
			this.forelegSolver.Reset();
		}

		// Token: 0x060024D1 RID: 9425 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D1")]
		[Address(RVA = "0x11DB410", Offset = "0x11D9C10", VA = "0x1811DB410")]
		private bool IsReadyToInitiate()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D2 RID: 9426 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D2")]
		[Address(RVA = "0x11DB240", Offset = "0x11D9A40", VA = "0x1811DB240")]
		private bool IsReadyToInitiateLegs(IK[] ikComponents)
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D3 RID: 9427 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D3")]
		[Address(RVA = "0x11DB690", Offset = "0x11D9E90", VA = "0x1811DB690")]
		private void OnDisable()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D4 RID: 9428 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D4")]
		[Address(RVA = "0x11DCD70", Offset = "0x11DB570", VA = "0x1811DCD70")]
		private void Update()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D5 RID: 9429 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D5")]
		[Address(RVA = "0x11DAE70", Offset = "0x11D9670", VA = "0x1811DAE70")]
		private void Initiate()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D6 RID: 9430 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D6")]
		[Address(RVA = "0x11DAA30", Offset = "0x11D9230", VA = "0x1811DAA30")]
		private Transform[] InitiateFeet(IK[] ikComponents, ref GrounderQuadruped.Foot[] f, int indexOffset)
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D7 RID: 9431 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D7")]
		[Address(RVA = "0x11DB560", Offset = "0x11D9D60", VA = "0x1811DB560")]
		private void LateUpdate()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D8 RID: 9432 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D8")]
		[Address(RVA = "0x11DC470", Offset = "0x11DAC70", VA = "0x1811DC470")]
		private void RootRotation()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024D9 RID: 9433 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024D9")]
		[Address(RVA = "0x11DBA80", Offset = "0x11DA280", VA = "0x1811DBA80")]
		private void OnSolverUpdate()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024DA RID: 9434 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024DA")]
		[Address(RVA = "0x11DCA50", Offset = "0x11DB250", VA = "0x1811DCA50")]
		private void UpdateForefeetRoot()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024DB RID: 9435 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024DB")]
		[Address(RVA = "0x11DC8A0", Offset = "0x11DB0A0", VA = "0x1811DC8A0")]
		private void SetFootIK(GrounderQuadruped.Foot foot, float maxOffset)
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024DC RID: 9436 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024DC")]
		[Address(RVA = "0x11DB710", Offset = "0x11D9F10", VA = "0x1811DB710")]
		private void OnPostSolverUpdate()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024DD RID: 9437 RVA: 0x000020D3 File Offset: 0x000002D3
		[Token(Token = "0x60024DD")]
		[Address(RVA = "0x11DB650", Offset = "0x11D9E50", VA = "0x1811DB650")]
		private void OnDestroy()
		{
			throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
		}

		// Token: 0x060024DE RID: 9438 RVA: 0x00053B7C File Offset: 0x00051D7C
		[Token(Token = "0x60024DE")]
		[Address(RVA = "0x11DA810", Offset = "0x11D9010", VA = "0x1811DA810")]
		private void DestroyLegs(IK[] ikComponents)
		{
			int num = 0;
			int num2 = 0;
			int length = ikComponents.Length;
			if (num2 < length)
			{
				IK ik = ikComponents[num];
				int num3 = 0;
				if (ik != num3)
				{
					IKSolver iksolver = ik.GetIKSolver();
					IKSolver.UpdateDelegate updateDelegate = new IKSolver.UpdateDelegate(this.OnSolverUpdate);
					Delegate @delegate = Delegate.Remove(updateDelegate, updateDelegate);
					int num4 = 0;
					if (@delegate != 0 && @delegate == 0)
					{
						throw new InvalidCastException();
					}
					iksolver.OnPreUpdate = num4;
					IKSolver iksolver2 = ik.GetIKSolver();
					IKSolver.UpdateDelegate updateDelegate2 = new IKSolver.UpdateDelegate(this.OnPostSolverUpdate);
					Delegate delegate2 = Delegate.Remove(updateDelegate2, updateDelegate2);
					if (delegate2 != 0 && delegate2 == 0)
					{
						throw new InvalidCastException();
					}
					iksolver2.OnPostUpdate = delegate2;
				}
				num++;
			}
		}

		// Token: 0x060024DF RID: 9439 RVA: 0x00053C2C File Offset: 0x00051E2C
		[Token(Token = "0x60024DF")]
		[Address(RVA = "0x11DCEF0", Offset = "0x11DB6F0", VA = "0x1811DCEF0")]
		public GrounderQuadruped()
		{
			Vector3 down = Vector3.down;
			int num = 0;
			float z = down.z;
			this.gravity.z = z;
			GrounderQuadruped.Foot[] array = new GrounderQuadruped.Foot[num];
			this.feet = array;
			base..ctor();
		}

		// Token: 0x04002E88 RID: 11912
		[FieldOffset(Offset = "0x40")]
		[Token(Token = "0x4002E88")]
		[Tooltip("The Grounding solver for the forelegs.")]
		public Grounding forelegSolver = new Grounding
		{
			maxStep = 0.5f,
			footSpeed = 2.5f,
			footRadius = 0.15f,
			prediction = 0.05f,
			footRotationWeight = 1f,
			footRotationSpeed = 7f,
			maxFootRotationAngle = 45f,
			pelvisSpeed = 5f,
			lowerPelvisWeight = 1f,
			rootSphereCastRadius = 0.1f,
			quality = (Grounding.Quality)((ulong)2L)
		};

		// Token: 0x04002E89 RID: 11913
		[FieldOffset(Offset = "0x48")]
		[Token(Token = "0x4002E89")]
		[Range(0f, 1f)]
		[Tooltip("The weight of rotating the character root to the ground angle (range: 0 - 1).")]
		public float rootRotationWeight = 0.5f;

		// Token: 0x04002E8A RID: 11914
		[FieldOffset(Offset = "0x4C")]
		[Token(Token = "0x4002E8A")]
		[Range(-90f, 0f)]
		[Tooltip("The maximum angle of rotating the quadruped downwards (going downhill, range: -90 - 0).")]
		public float minRootRotation = -25f;

		// Token: 0x04002E8B RID: 11915
		[FieldOffset(Offset = "0x50")]
		[Token(Token = "0x4002E8B")]
		[Tooltip("The maximum angle of rotating the quadruped upwards (going uphill, range: 0 - 90).")]
		[Range(0f, 90f)]
		public float maxRootRotation = 45f;

		// Token: 0x04002E8C RID: 11916
		[FieldOffset(Offset = "0x54")]
		[Token(Token = "0x4002E8C")]
		[Tooltip("The speed of interpolating the character root rotation (range: 0 - inf).")]
		public float rootRotationSpeed = 5f;

		// Token: 0x04002E8D RID: 11917
		[FieldOffset(Offset = "0x58")]
		[Token(Token = "0x4002E8D")]
		[Tooltip("The maximum IK offset for the legs (range: 0 - inf).")]
		public float maxLegOffset = 0.5f;

		// Token: 0x04002E8E RID: 11918
		[FieldOffset(Offset = "0x5C")]
		[Token(Token = "0x4002E8E")]
		[Tooltip("The maximum IK offset for the forelegs (range: 0 - inf).")]
		public float maxForeLegOffset = 0.5f;

		// Token: 0x04002E8F RID: 11919
		[FieldOffset(Offset = "0x60")]
		[Token(Token = "0x4002E8F")]
		[Range(0f, 1f)]
		[Tooltip("The weight of maintaining the head's rotation as it was before solving the Grounding (range: 0 - 1).")]
		public float maintainHeadRotationWeight = 0.5f;

		// Token: 0x04002E90 RID: 11920
		[FieldOffset(Offset = "0x68")]
		[Token(Token = "0x4002E90")]
		[Tooltip("The root Transform of the character, with the rigidbody and the collider.")]
		public Transform characterRoot;

		// Token: 0x04002E91 RID: 11921
		[FieldOffset(Offset = "0x70")]
		[Token(Token = "0x4002E91")]
		[Tooltip("The pelvis transform. Common ancestor of both legs and the spine.")]
		public Transform pelvis;

		// Token: 0x04002E92 RID: 11922
		[FieldOffset(Offset = "0x78")]
		[Token(Token = "0x4002E92")]
		[Tooltip("The last bone in the spine that is the common parent for both forelegs.")]
		public Transform lastSpineBone;

		// Token: 0x04002E93 RID: 11923
		[FieldOffset(Offset = "0x80")]
		[Token(Token = "0x4002E93")]
		[Tooltip("The head (optional, if you intend to maintain it's rotation).")]
		public Transform head;

		// Token: 0x04002E94 RID: 11924
		[FieldOffset(Offset = "0x88")]
		[Token(Token = "0x4002E94")]
		public IK[] legs;

		// Token: 0x04002E95 RID: 11925
		[FieldOffset(Offset = "0x90")]
		[Token(Token = "0x4002E95")]
		public IK[] forelegs;

		// Token: 0x04002E96 RID: 11926
		[FieldOffset(Offset = "0x98")]
		[Token(Token = "0x4002E96")]
		[HideInInspector]
		public Vector3 gravity;

		// Token: 0x04002E97 RID: 11927
		[FieldOffset(Offset = "0xA8")]
		[Token(Token = "0x4002E97")]
		private GrounderQuadruped.Foot[] feet;

		// Token: 0x04002E98 RID: 11928
		[FieldOffset(Offset = "0xB0")]
		[Token(Token = "0x4002E98")]
		private Vector3 animatedPelvisLocalPosition;

		// Token: 0x04002E99 RID: 11929
		[FieldOffset(Offset = "0xBC")]
		[Token(Token = "0x4002E99")]
		private Quaternion animatedPelvisLocalRotation;

		// Token: 0x04002E9A RID: 11930
		[FieldOffset(Offset = "0xCC")]
		[Token(Token = "0x4002E9A")]
		private Quaternion animatedHeadLocalRotation;

		// Token: 0x04002E9B RID: 11931
		[FieldOffset(Offset = "0xDC")]
		[Token(Token = "0x4002E9B")]
		private Vector3 solvedPelvisLocalPosition;

		// Token: 0x04002E9C RID: 11932
		[FieldOffset(Offset = "0xE8")]
		[Token(Token = "0x4002E9C")]
		private Quaternion solvedPelvisLocalRotation;

		// Token: 0x04002E9D RID: 11933
		[FieldOffset(Offset = "0xF8")]
		[Token(Token = "0x4002E9D")]
		private Quaternion solvedHeadLocalRotation;

		// Token: 0x04002E9E RID: 11934
		[FieldOffset(Offset = "0x108")]
		[Token(Token = "0x4002E9E")]
		private int solvedFeet;

		// Token: 0x04002E9F RID: 11935
		[FieldOffset(Offset = "0x10C")]
		[Token(Token = "0x4002E9F")]
		private bool solved;

		// Token: 0x04002EA0 RID: 11936
		[FieldOffset(Offset = "0x110")]
		[Token(Token = "0x4002EA0")]
		private float angle;

		// Token: 0x04002EA1 RID: 11937
		[FieldOffset(Offset = "0x118")]
		[Token(Token = "0x4002EA1")]
		private Transform forefeetRoot;

		// Token: 0x04002EA2 RID: 11938
		[FieldOffset(Offset = "0x120")]
		[Token(Token = "0x4002EA2")]
		private Quaternion headRotation;

		// Token: 0x04002EA3 RID: 11939
		[FieldOffset(Offset = "0x130")]
		[Token(Token = "0x4002EA3")]
		private float lastWeight;

		// Token: 0x0200040A RID: 1034
		[Token(Token = "0x200040A")]
		public struct Foot
		{
			// Token: 0x060024E0 RID: 9440 RVA: 0x000020D3 File Offset: 0x000002D3
			[Token(Token = "0x60024E0")]
			[Address(RVA = "0x66D4D0", Offset = "0x66BCD0", VA = "0x18066D4D0")]
			public Foot(IKSolver solver, Transform transform)
			{
				throw new AnalysisFailedException("CPP2IL failed to recover any usable IL for this method.");
			}

			// Token: 0x04002EA4 RID: 11940
			[FieldOffset(Offset = "0x0")]
			[Token(Token = "0x4002EA4")]
			public IKSolver solver;

			// Token: 0x04002EA5 RID: 11941
			[FieldOffset(Offset = "0x8")]
			[Token(Token = "0x4002EA5")]
			public Transform transform;

			// Token: 0x04002EA6 RID: 11942
			[FieldOffset(Offset = "0x10")]
			[Token(Token = "0x4002EA6")]
			public Quaternion rotation;

			// Token: 0x04002EA7 RID: 11943
			[FieldOffset(Offset = "0x20")]
			[Token(Token = "0x4002EA7")]
			public Grounding.Leg leg;
		}
	}
}