using Pathfinding;
using Pathfinding.Util;
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using UnityEngine;

[AddComponentMenu("Pathfinding/Modifiers/Radius Offset")]
public class RadiusModifier : MonoModifier
{
    private float[] a1 = new float[10];
    private float[] a2 = new float[10];
    public float detail = 10f;
    private bool[] dir = new bool[10];
    private float[] radi = new float[10];
    public float radius = 1f;

    public List<Vector3> Apply(List<Vector3> vs)
    {
        if ((vs == null) || (vs.Count < 3))
        {
            return vs;
        }
        if (this.radi.Length < vs.Count)
        {
            this.radi = new float[vs.Count];
            this.a1 = new float[vs.Count];
            this.a2 = new float[vs.Count];
            this.dir = new bool[vs.Count];
        }
        for (int i = 0; i < vs.Count; i++)
        {
            this.radi[i] = this.radius;
        }
        this.radi[0] = 0f;
        this.radi[vs.Count - 1] = 0f;
        int num2 = 0;
        for (int j = 0; j < (vs.Count - 1); j++)
        {
            TangentType type;
            num2++;
            if (num2 > (2 * vs.Count))
            {
                Debug.LogWarning("Could not resolve radiuses, the path is too complex. Try reducing the base radius");
                break;
            }
            if (j == 0)
            {
                type = this.CalculateTangentTypeSimple(vs[j], vs[j + 1], vs[j + 2]);
            }
            else if (j == (vs.Count - 2))
            {
                type = this.CalculateTangentTypeSimple(vs[j - 1], vs[j], vs[j + 1]);
            }
            else
            {
                type = this.CalculateTangentType(vs[j - 1], vs[j], vs[j + 1], vs[j + 2]);
            }
            if ((type & TangentType.Inner) != ((TangentType) 0))
            {
                float num4;
                float num5;
                if (!this.CalculateCircleInner(vs[j], vs[j + 1], this.radi[j], this.radi[j + 1], out num4, out num5))
                {
                    Vector3 vector = vs[j + 1] - vs[j];
                    float magnitude = vector.magnitude;
                    this.radi[j] = magnitude * (this.radi[j] / (this.radi[j] + this.radi[j + 1]));
                    this.radi[j + 1] = magnitude - this.radi[j];
                    this.radi[j] *= 0.99f;
                    this.radi[j + 1] *= 0.99f;
                    j -= 2;
                }
                else if (type == TangentType.InnerRightLeft)
                {
                    this.a2[j] = num5 - num4;
                    this.a1[j + 1] = (num5 - num4) + 3.141593f;
                    this.dir[j] = true;
                }
                else
                {
                    this.a2[j] = num5 + num4;
                    this.a1[j + 1] = (num5 + num4) + 3.141593f;
                    this.dir[j] = false;
                }
            }
            else
            {
                float num7;
                float num8;
                if (!this.CalculateCircleOuter(vs[j], vs[j + 1], this.radi[j], this.radi[j + 1], out num8, out num7))
                {
                    if (j == (vs.Count - 2))
                    {
                        Vector3 vector2 = vs[j + 1] - vs[j];
                        this.radi[j] = vector2.magnitude;
                        this.radi[j] *= 0.99f;
                        j--;
                    }
                    else
                    {
                        if (this.radi[j] > this.radi[j + 1])
                        {
                            Vector3 vector3 = vs[j + 1] - vs[j];
                            this.radi[j + 1] = this.radi[j] - vector3.magnitude;
                        }
                        else
                        {
                            Vector3 vector4 = vs[j + 1] - vs[j];
                            this.radi[j + 1] = this.radi[j] + vector4.magnitude;
                        }
                        this.radi[j + 1] *= 0.99f;
                    }
                    j--;
                }
                else if (type == TangentType.OuterRight)
                {
                    this.a2[j] = num7 - num8;
                    this.a1[j + 1] = num7 - num8;
                    this.dir[j] = true;
                }
                else
                {
                    this.a2[j] = num7 + num8;
                    this.a1[j + 1] = num7 + num8;
                    this.dir[j] = false;
                }
            }
        }
        List<Vector3> list = ListPool<Vector3>.Claim();
        list.Add(vs[0]);
        if (this.detail < 1f)
        {
            this.detail = 1f;
        }
        float num9 = 6.283185f / this.detail;
        for (int k = 1; k < (vs.Count - 1); k++)
        {
            float num11 = this.a1[k];
            float num12 = this.a2[k];
            float num13 = this.radi[k];
            if (this.dir[k])
            {
                if (num12 < num11)
                {
                    num12 += 6.283185f;
                }
                for (float m = num11; m < num12; m += num9)
                {
                    list.Add(((Vector3) (new Vector3((float) Math.Cos((double) m), 0f, (float) Math.Sin((double) m)) * num13)) + vs[k]);
                }
            }
            else
            {
                if (num11 < num12)
                {
                    num11 += 6.283185f;
                }
                for (float n = num11; n > num12; n -= num9)
                {
                    list.Add(((Vector3) (new Vector3((float) Math.Cos((double) n), 0f, (float) Math.Sin((double) n)) * num13)) + vs[k]);
                }
            }
        }
        list.Add(vs[vs.Count - 1]);
        return list;
    }

    public override void Apply(Path p, ModifierData source)
    {
        List<Vector3> vectorPath = p.vectorPath;
        List<Vector3> list2 = this.Apply(vectorPath);
        if (list2 != vectorPath)
        {
            ListPool<Vector3>.Release(p.vectorPath);
            p.vectorPath = list2;
        }
    }

    private bool CalculateCircleInner(Vector3 p1, Vector3 p2, float r1, float r2, out float a, out float sigma)
    {
        Vector3 vector = p1 - p2;
        float magnitude = vector.magnitude;
        if ((r1 + r2) > magnitude)
        {
            a = 0f;
            sigma = 0f;
            return false;
        }
        a = (float) Math.Acos((double) ((r1 + r2) / magnitude));
        sigma = (float) Math.Atan2((double) (p2.z - p1.z), (double) (p2.x - p1.x));
        return true;
    }

    private bool CalculateCircleOuter(Vector3 p1, Vector3 p2, float r1, float r2, out float a, out float sigma)
    {
        Vector3 vector = p1 - p2;
        float magnitude = vector.magnitude;
        if (Math.Abs((float) (r1 - r2)) > magnitude)
        {
            a = 0f;
            sigma = 0f;
            return false;
        }
        a = (float) Math.Acos((double) ((r1 - r2) / magnitude));
        sigma = (float) Math.Atan2((double) (p2.z - p1.z), (double) (p2.x - p1.x));
        return true;
    }

    private TangentType CalculateTangentType(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4)
    {
        bool flag = Polygon.Left(p1, p2, p3);
        bool flag2 = Polygon.Left(p2, p3, p4);
        return (TangentType) (((int) 1) << (((flag == null) ? 0 : 2) + ((flag2 == null) ? 0 : 1)));
    }

    private TangentType CalculateTangentTypeSimple(Vector3 p1, Vector3 p2, Vector3 p3)
    {
        bool flag = Polygon.Left(p1, p2, p3);
        bool flag2 = flag;
        return (TangentType) (((int) 1) << (((flag2 == null) ? 0 : 2) + ((flag == null) ? 0 : 1)));
    }

    private void DrawCircle(Vector3 p1, float rad, Color col, float start = 0, float end = 6.283185f)
    {
        Vector3 vector = ((Vector3) (new Vector3((float) Math.Cos((double) start), 0f, (float) Math.Sin((double) start)) * rad)) + p1;
        for (float i = start; i < end; i += 0.03141593f)
        {
            Vector3 vector2 = ((Vector3) (new Vector3((float) Math.Cos((double) i), 0f, (float) Math.Sin((double) i)) * rad)) + p1;
            Debug.DrawLine(vector, vector2, col);
            vector = vector2;
        }
        if (end == 6.2831853071795862)
        {
            Vector3 vector3 = ((Vector3) (new Vector3((float) Math.Cos((double) start), 0f, (float) Math.Sin((double) start)) * rad)) + p1;
            Debug.DrawLine(vector, vector3, col);
        }
    }

    public override ModifierData input
    {
        get
        {
            return ModifierData.Vector;
        }
    }

    public override ModifierData output
    {
        get
        {
            return ModifierData.VectorPath;
        }
    }

    private enum TangentType
    {
        Inner = 6,
        InnerLeftRight = 4,
        InnerRightLeft = 2,
        Outer = 9,
        OuterLeft = 8,
        OuterRight = 1
    }
}