public Vector3 Push(IKSolverFullBody solver)
{
Vector3 vector = Vector3.zero;
for (int i = 0; i < this.children.Length; i++)
{
vector += solver.chain[this.children[i]].Push(solver) * solver.chain[this.children[i]].pushParent;
}
this.nodes[this.nodes.Length - 1].solverPosition += vector;
if (this.nodes.Length < 2)
{
return(Vector3.zero);
}
if (this.push <= 0f)
{
return(Vector3.zero);
}
Vector3 a = this.nodes[2].solverPosition - this.nodes[0].solverPosition;
float magnitude = a.magnitude;
if (magnitude == 0f)
{
return(Vector3.zero);
}
float num = 1f - magnitude / this.distance;
if (num <= 0f)
{
return(Vector3.zero);
}
FBIKChain.Smoothing smoothing = this.pushSmoothing;
if (smoothing != FBIKChain.Smoothing.Exponential)
{
if (smoothing == FBIKChain.Smoothing.Cubic)
{
num *= num * num;
}
}
else
{
num *= num;
}
Vector3 vector2 = -a * num * this.push;
this.nodes[0].solverPosition += vector2;
return(vector2);
}
public void Reach(IKSolverFullBody solver)
{
if (!this.initiated)
{
return;
}
for (int i = 0; i < this.children.Length; i++)
{
solver.chain[this.children[i]].Reach(solver);
}
if (this.reachForce <= 0f)
{
return;
}
Vector3 vector = this.nodes[2].solverPosition - this.nodes[0].solverPosition;
if (vector == Vector3.zero)
{
return;
}
float magnitude = vector.magnitude;
Vector3 a = vector / magnitude * this.length;
float num = Mathf.Clamp(magnitude / this.length, 1f - this.reachForce, 1f + this.reachForce) - 1f;
num = Mathf.Clamp(num + this.reachForce, -1f, 1f);
FBIKChain.Smoothing smoothing = this.reachSmoothing;
if (smoothing != FBIKChain.Smoothing.Exponential)
{
if (smoothing == FBIKChain.Smoothing.Cubic)
{
num *= num * num;
}
}
else
{
num *= num;
}
Vector3 vector2 = a * Mathf.Clamp(num, 0f, magnitude);
this.nodes[0].solverPosition += vector2 * (1f - this.nodes[0].effectorPositionWeight);
this.nodes[2].solverPosition += vector2;
}
protected override void ResetAction()
{
limb = FullBodyBipedChain.LeftArm;
pull = new FsmFloat { UseVariable = true };
reach = new FsmFloat { UseVariable = true };
push = new FsmFloat { UseVariable = true };
pushParent = new FsmFloat { UseVariable = true };
bendGoal = new FsmGameObject { UseVariable = true };
bendGoalWeight = new FsmFloat { UseVariable = true };
target = new FsmGameObject { UseVariable = true };
position = new FsmVector3 { UseVariable = true };
positionWeight = new FsmFloat { UseVariable = true };
rotation = new FsmQuaternion { UseVariable = true };
rotationWeight = new FsmFloat { UseVariable = true };
positionOffset = new FsmVector3 { UseVariable = true };
maintainRelativePositionWeight = new FsmFloat { UseVariable = true };
startEffectorTarget = new FsmGameObject { UseVariable = true };
startEffectorPosition = new FsmVector3 { UseVariable = true };
startEffectorPositionWeight = new FsmFloat { UseVariable = true };
startEffectorPositionOffset = new FsmVector3 { UseVariable = true };
maintainRotationWeight = new FsmFloat { UseVariable = true };
mappingWeight = new FsmFloat { UseVariable = true};
reachSmoothing = FBIKChain.Smoothing.Exponential;
pushSmoothing = FBIKChain.Smoothing.Exponential;
rotation = Quaternion.identity;
mappingWeight = 1f;
pull = 1f;
reach = 0.05f;
push = 0f;
pushParent = 0f;
bendGoalWeight = 0f;
}
public static void Execute(FullBodyBipedIK ik, List <List <string> > dataList)
{
Transform[] componentsInChildren = (Transform[])((Component)ik).GetComponentsInChildren <Transform>(true);
int num1 = 0;
List <List <string> > stringListList = dataList;
int index1 = num1;
int count1 = index1 + 1;
List <string> stringList1 = stringListList[index1];
int num2 = 0;
// ISSUE: variable of the null type
__Null solver1 = ik.solver;
List <string> stringList2 = stringList1;
int index2 = num2;
int num3 = index2 + 1;
double num4 = (double)float.Parse(stringList2[index2]);
((IKSolver)solver1).IKPositionWeight = (__Null)num4;
// ISSUE: variable of the null type
__Null solver2 = ik.solver;
List <string> stringList3 = stringList1;
int index3 = num3;
int num5 = index3 + 1;
int num6 = int.Parse(stringList3[index3]);
((IKSolverFullBody)solver2).iterations = (__Null)num6;
int num7 = 0;
foreach (List <string> stringList4 in dataList.Skip <List <string> >(count1))
{
if (((IKSolverFullBody)ik.solver).effectors.Length > num7)
{
++num7;
int num8 = 0;
// ISSUE: variable of the null type
__Null solver3 = ik.solver;
List <string> stringList5 = stringList4;
int index4 = num8;
int num9 = index4 + 1;
FullBodyBipedEffector bodyBipedEffector = Illusion.Utils.Enum <FullBodyBipedEffector> .Cast(stringList5[index4]);
IKEffector eff = ((IKSolverFullBodyBiped)solver3).GetEffector(bodyBipedEffector);
if (eff != null)
{
IKEffector ikEffector1 = eff;
List <string> stringList6 = stringList4;
int index5 = num9;
int num10 = index5 + 1;
double num11 = (double)float.Parse(stringList6[index5]);
ikEffector1.positionWeight = (__Null)num11;
IKEffector ikEffector2 = eff;
List <string> stringList7 = stringList4;
int index6 = num10;
int num12 = index6 + 1;
double num13 = (double)float.Parse(stringList7[index6]);
ikEffector2.rotationWeight = (__Null)num13;
List <string> stringList8 = stringList4;
int index7 = num12;
int num14 = index7 + 1;
string findFrame = stringList8[index7];
if (findFrame == "null")
{
eff.target = null;
}
else
{
((IEnumerable <Transform>)componentsInChildren).FirstOrDefault <Transform>((Func <Transform, bool>)(p => ((Object)p).get_name() == findFrame)).SafeProc <Transform>((Action <Transform>)(frame => eff.target = (__Null)frame));
}
if (Object.op_Inequality((Object)eff.target, (Object)null))
{
// ISSUE: variable of the null type
__Null target1 = eff.target;
List <string> stringList9 = stringList4;
int index8 = num14;
int num15 = index8 + 1;
Vector3 vector3_1 = stringList9[index8].GetVector3();
((Transform)target1).set_localPosition(vector3_1);
// ISSUE: variable of the null type
__Null target2 = eff.target;
List <string> stringList10 = stringList4;
int index9 = num15;
int num16 = index9 + 1;
Vector3 vector3_2 = stringList10[index9].GetVector3();
((Transform)target2).set_localEulerAngles(vector3_2);
}
}
}
else
{
break;
}
}
int count2 = count1 + num7;
int num17 = 0;
foreach (List <string> stringList4 in dataList.Skip <List <string> >(count2))
{
if (((IKSolverFullBody)ik.solver).chain.Length <= num17)
{
break;
}
FBIKChain fbikChain1 = (FBIKChain)((IKSolverFullBody)ik.solver).chain[num17++];
int num8 = 0;
FBIKChain fbikChain2 = fbikChain1;
List <string> stringList5 = stringList4;
int index4 = num8;
int num9 = index4 + 1;
double num10 = (double)float.Parse(stringList5[index4]);
fbikChain2.pull = (__Null)num10;
FBIKChain fbikChain3 = fbikChain1;
List <string> stringList6 = stringList4;
int index5 = num9;
int num11 = index5 + 1;
double num12 = (double)float.Parse(stringList6[index5]);
fbikChain3.reach = (__Null)num12;
FBIKChain fbikChain4 = fbikChain1;
List <string> stringList7 = stringList4;
int index6 = num11;
int num13 = index6 + 1;
double num14 = (double)float.Parse(stringList7[index6]);
fbikChain4.push = (__Null)num14;
FBIKChain fbikChain5 = fbikChain1;
List <string> stringList8 = stringList4;
int index7 = num13;
int num15 = index7 + 1;
double num16 = (double)float.Parse(stringList8[index7]);
fbikChain5.pushParent = (__Null)num16;
FBIKChain fbikChain6 = fbikChain1;
List <string> stringList9 = stringList4;
int index8 = num15;
int num18 = index8 + 1;
FBIKChain.Smoothing smoothing1 = Illusion.Utils.Enum <FBIKChain.Smoothing> .Cast(stringList9[index8]);
fbikChain6.reachSmoothing = (__Null)smoothing1;
FBIKChain fbikChain7 = fbikChain1;
List <string> stringList10 = stringList4;
int index9 = num18;
int num19 = index9 + 1;
FBIKChain.Smoothing smoothing2 = Illusion.Utils.Enum <FBIKChain.Smoothing> .Cast(stringList10[index9]);
fbikChain7.pushSmoothing = (__Null)smoothing2;
// ISSUE: variable of the null type
__Null bendConstraint = fbikChain1.bendConstraint;
List <string> stringList11 = stringList4;
int index10 = num19;
int num20 = index10 + 1;
double num21 = (double)float.Parse(stringList11[index10]);
((IKConstraintBend)bendConstraint).weight = (__Null)num21;
List <string> stringList12 = stringList4;
int index11 = num20;
int num22 = index11 + 1;
string findFrame = stringList12[index11];
if (findFrame == "null")
{
((IKConstraintBend)fbikChain1.bendConstraint).bendGoal = null;
}
else
{
((IKConstraintBend)fbikChain1.bendConstraint).bendGoal = (__Null)((IEnumerable <Transform>)componentsInChildren).FirstOrDefault <Transform>((Func <Transform, bool>)(p => ((Object)p).get_name() == findFrame));
}
if (Object.op_Inequality((Object)((IKConstraintBend)fbikChain1.bendConstraint).bendGoal, (Object)null))
{
// ISSUE: variable of the null type
__Null bendGoal1 = ((IKConstraintBend)fbikChain1.bendConstraint).bendGoal;
List <string> stringList13 = stringList4;
int index12 = num22;
int num23 = index12 + 1;
Vector3 vector3_1 = stringList13[index12].GetVector3();
((Transform)bendGoal1).set_localPosition(vector3_1);
// ISSUE: variable of the null type
__Null bendGoal2 = ((IKConstraintBend)fbikChain1.bendConstraint).bendGoal;
List <string> stringList14 = stringList4;
int index13 = num23;
int num24 = index13 + 1;
Vector3 vector3_2 = stringList14[index13].GetVector3();
((Transform)bendGoal2).set_localEulerAngles(vector3_2);
}
}
}
