private Vector3 FindTarget(ScanMem mem, Vector3 worldPos, out Collider targetCollider)
{
targetCollider = null;
Ray ray = new Ray(direction: (worldPos - mem.shoulder).normalized, origin: mem.shoulder);
int num = Physics.OverlapCapsuleNonAlloc(ray.origin, worldPos, 0.5f, colliders, motion.grabLayers, QueryTriggerInteraction.Ignore);
for (int i = 0; i < num; i++)
{
Collider collider = colliders[i];
TargetHelper componentInChildren = collider.GetComponentInChildren <TargetHelper>();
if (componentInChildren != null)
{
Vector3 a = componentInChildren.transform.position - worldPos;
float magnitude = (Math3d.ProjectPointOnLineSegment(ray.origin, worldPos, componentInChildren.transform.position) - componentInChildren.transform.position).magnitude;
if (magnitude < 0.3f && (componentInChildren.transform.position - mem.hand).magnitude < 0.3f)
{
worldPos = componentInChildren.transform.position;
targetCollider = collider;
}
else
{
worldPos += a * Mathf.InverseLerp(0.5f, 0.3f, magnitude);
}
return(worldPos);
}
}
Vector3 vector = mem.hand + Vector3.ClampMagnitude(worldPos - mem.hand, 0.3f);
targetCollider = null;
Vector3 vector2 = vector - mem.pos;
Ray ray2 = new Ray(mem.pos, vector2.normalized);
Debug.DrawRay(ray2.origin, ray2.direction * vector2.magnitude, Color.yellow, 0.2f);
float num2 = float.PositiveInfinity;
Vector3 vector3 = vector;
for (float num3 = 0.05f; num3 <= 0.5f; num3 += 0.05f)
{
if (!Physics.SphereCast(ray2, num3, out RaycastHit hitInfo, vector2.magnitude, motion.grabLayers, QueryTriggerInteraction.Ignore))
{
continue;
}
float magnitude2 = (vector - hitInfo.point).magnitude;
magnitude2 += num3 / 10f;
if (hitInfo.collider.tag == "Target")
{
magnitude2 /= 100f;
}
else
{
if (num3 > 0.2f)
{
continue;
}
Vector3 normalized2 = (worldPos - mem.shoulder).normalized;
Vector3 normalized3 = (hitInfo.point - mem.shoulder).normalized;
if (Vector3.Dot(normalized2, normalized3) < 0.7f)
{
continue;
}
}
if (magnitude2 < num2)
{
num2 = magnitude2;
vector3 = hitInfo.point;
targetCollider = hitInfo.collider;
}
}
if (targetCollider != null)
{
Vector3 a2 = vector3 - vector;
float magnitude3 = (Math3d.ProjectPointOnLineSegment(ray2.origin, vector, vector3) - vector3).magnitude;
if (targetCollider.tag == "Target")
{
if (magnitude3 < 0.2f && (mem.hand - vector3).magnitude < 0.5f)
{
worldPos = vector3;
}
else
{
worldPos = vector + a2 * Mathf.InverseLerp(0.5f, 0.2f, magnitude3);
targetCollider = null;
}
}
else if (magnitude3 < 0.1f && a2.magnitude < 0.1f)
{
worldPos = vector3;
}
else
{
worldPos = vector + a2 * Mathf.InverseLerp(0.2f, 0.1f, magnitude3);
targetCollider = null;
}
}
mem.pos = vector;
return(worldPos);
}
private void ProcessHand(ScanMem mem, HumanSegment arm, HumanSegment forearm, HumanSegment hand, Vector3 worldPos, float extend, bool grab, float animationPhase, bool right)
{
double num = 0.1 + (double)(0.14f * Mathf.Abs(human.controls.targetPitchAngle - mem.grabAngle) / 80f);
double num2 = num * 2.0;
if (CheatCodes.climbCheat)
{
num2 = (num /= 4.0);
}
if (grab && !hand.sensor.grab)
{
if ((double)mem.grabTime > num)
{
mem.pos = arm.transform.position;
}
else
{
grab = false;
}
}
if (hand.sensor.grab && !grab)
{
mem.grabTime = 0f;
mem.grabAngle = human.controls.targetPitchAngle;
}
else
{
mem.grabTime += Time.fixedDeltaTime;
}
hand.sensor.grab = ((double)mem.grabTime > num2 && grab);
if (extend > 0.2f)
{
bool flag = false;
hand.sensor.targetPosition = worldPos;
Vector3 vector = worldPos;
mem.shoulder = arm.transform.position;
mem.hand = hand.transform.position;
if (hand.sensor.grabJoint == null)
{
worldPos = FindTarget(mem, worldPos, out hand.sensor.grabFilter);
}
PlaceHand(arm, hand, worldPos, active: true, hand.sensor.grabJoint != null, hand.sensor.grabBody);
if (hand.sensor.grabBody != null)
{
LiftBody(hand, hand.sensor.grabBody);
}
hand.sensor.grabPosition = worldPos;
}
else
{
hand.sensor.grabFilter = null;
if (human.state == HumanState.Walk)
{
AnimateHand(arm, forearm, hand, animationPhase, 1f, right);
}
else if (human.state == HumanState.FreeFall)
{
Vector3 targetDirection = human.targetDirection;
targetDirection.y = 0f;
HumanMotion2.AlignToVector(arm, arm.transform.up, -targetDirection, 2f);
HumanMotion2.AlignToVector(forearm, forearm.transform.up, targetDirection, 2f);
}
else
{
Vector3 targetDirection2 = human.targetDirection;
targetDirection2.y = 0f;
HumanMotion2.AlignToVector(arm, arm.transform.up, -targetDirection2, 20f);
HumanMotion2.AlignToVector(forearm, forearm.transform.up, targetDirection2, 20f);
}
}
}
