HighGroundRoyaleFusion/Assets/Photon/FusionAddons/KCCOffline/KCCOffline.cs

using System;
using System.Collections.Generic;
using Unity.Profiling;
using UnityEngine;

namespace Fusion.Addons.SimpleKCC
{
    [DisallowMultipleComponent]
    [RequireComponent(typeof(Rigidbody))]
    public sealed class KCCOffline : MonoBehaviour
    {
        internal const int CACHE_SIZE = 64;

        internal const int HISTORY_SIZE = 60;

        [SerializeField]
        private KCCSettings _settings = new();

        private Transform _transform;

        private Rigidbody _rigidbody;

        private bool _isSpawned;

        private KCCCollider _collider = new();

        private KCCData _fixedData = new();

        private KCCData[] _historyData = new KCCData[60];

        private KCCSettings _defaultSettings = new();

        private KCCOverlapInfo _extendedOverlapInfo = new(64);

        private KCCOverlapInfo _trackOverlapInfo = new(64);

        private List<Collider> _childColliders = new List<Collider>();

        private RaycastHit[] _raycastHits = new RaycastHit[64];

        private Collider[] _hitColliders = new Collider[64];

        private Collider[] _addColliders = new Collider[64];

        private Collider[] _removeColliders = new Collider[64];

        private KCCResolver _resolver = new(64);

        private Vector3 _lastAntiJitterPosition;

        private Vector3 _predictionError;

        private static ProfilerMarker _fixedUpdateMarker = new ProfilerMarker("KCC.FixedUpdate");

        public Func<KCCOffline, Collider, bool> ResolveCollision;

        internal bool IsSpawned => _isSpawned;

        public bool IsGrounded => Data.IsGrounded;

        public Vector3 RealVelocity => Data.RealVelocity;

        public Vector3 Position => Data.TargetPosition;

        public Quaternion LookRotation => Data.LookRotation;

        public Vector3 LookDirection => Data.LookDirection;

        public Quaternion TransformRotation => Data.TransformRotation;

        public Vector3 TransformDirection => Data.TransformDirection;

        public float RealSpeed => Data.RealSpeed;

        public bool HasJumped => Data.HasJumped;

        public bool IsActive => Data.IsActive;

        internal KCCData Data => _fixedData;

        internal KCCData FixedData => _fixedData;

        public KCCSettings Settings => _settings;

        public Transform Transform => _transform;

        public CapsuleCollider Collider => _collider.Collider;

        public Rigidbody Rigidbody => _rigidbody;

        internal bool IsInFixedUpdate => true;

        internal Vector3 PredictionError => _predictionError;

        private event Action<KCCOffline> _onSpawn;

        internal void SynchronizeTransform(bool synchronizePosition, bool synchronizeRotation, bool allowAntiJitter = true)
        {
            if (IsInFixedUpdate)
            {
                allowAntiJitter = false;
            }

            SynchronizeTransform(Data, synchronizePosition, synchronizeRotation, allowAntiJitter);
        }

        public void RefreshChildColliders()
        {
            _childColliders.Clear();
            GetComponentsInChildren(includeInactive: true, _childColliders);
            int num = 0;
            int num2 = _childColliders.Count - 1;
            while (num <= num2)
            {
                Collider collider = _childColliders[num];
                if (collider.isTrigger || collider == _collider.Collider)
                {
                    _childColliders[num] = _childColliders[num2];
                    _childColliders.RemoveAt(num2);
                    num2--;
                }
                else
                {
                    num++;
                }
            }
        }

        internal KCCData GetHistoryData(int tick)
        {
            if (tick < 0)
            {
                return null;
            }

            KCCData kCCData = _historyData[tick % 60];
            if (kCCData != null && kCCData.Tick == tick)
            {
                return kCCData;
            }

            return null;
        }

        internal void InvokeOnSpawn(Action<KCCOffline> callback)
        {
            if (_isSpawned)
            {
                callback(this);
                return;
            }

            _onSpawn -= callback;
            _onSpawn += callback;
        }

        internal void ManualFixedUpdate()
        {
            if (_isSpawned)
            {
                _fixedUpdateMarker.Begin();
                OnFixedUpdateInternal();
                _fixedUpdateMarker.End();
            }
        }

        private void Awake()
        {
            _transform = base.transform;
            _rigidbody = GetComponent<Rigidbody>();
            _rigidbody.isKinematic = true;
            RefreshCollider();
            Spawned();
        }

        private void OnDestroy()
        {
            SetDefaults(cleanup: true);
        }

        private void OnDrawGizmosSelected()
        {
            if (_settings != null)
            {
                float num = Mathf.Max(0.01f, _settings.Radius);
                float num2 = Mathf.Max(num * 2f, _settings.Height);
                Vector3 position = base.transform.position;
                Color color = Gizmos.color;
                Vector3 vector = position + Vector3.up * num;
                Vector3 vector2 = position + Vector3.up * (num2 - num);
                Vector3 vector3 = Vector3.forward * num;
                Vector3 vector4 = Vector3.back * num;
                Vector3 vector5 = Vector3.left * num;
                Vector3 vector6 = Vector3.right * num;
                Gizmos.color = Color.green;
                Gizmos.DrawWireSphere(vector, num);
                Gizmos.DrawWireSphere(vector2, num);
                Gizmos.DrawLine(vector + vector3, vector2 + vector3);
                Gizmos.DrawLine(vector + vector4, vector2 + vector4);
                Gizmos.DrawLine(vector + vector5, vector2 + vector5);
                Gizmos.DrawLine(vector + vector6, vector2 + vector6);
                if (_settings.Extent > 0f)
                {
                    float radius = num + _settings.Extent;
                    Gizmos.color = Color.yellow;
                    Gizmos.DrawWireSphere(vector, radius);
                    Gizmos.DrawWireSphere(vector2, radius);
                }

                Gizmos.color = color;
            }
        }

        public void Spawned()
        {
            if (_isSpawned)
            {
                throw new InvalidOperationException("[" + base.name + "] KCC is already spawned!");
            }

            _defaultSettings.CopyFromOther(_settings);
            SetDefaults(cleanup: false);
            _isSpawned = true;
            // _isInFixedUpdate = true;
            KCCUtility.GetClampedLookRotationAngles(_transform.rotation, out var pitch, out var yaw);
            _fixedData = new();
            _fixedData.Frame = Time.frameCount;
            // _fixedData.Tick = base.Runner.Tick.Raw;
            // _fixedData.Time = base.Runner.SimulationTime;
            _fixedData.DeltaTime = Time.deltaTime;
            _fixedData.UpdateDeltaTime = _fixedData.DeltaTime;
            _fixedData.Gravity = Physics.gravity;
            _fixedData.MaxGroundAngle = 60f;
            _fixedData.MaxWallAngle = 5f;
            _fixedData.MaxHangAngle = 30f;
            _fixedData.BasePosition = _transform.position;
            _fixedData.DesiredPosition = _transform.position;
            _fixedData.TargetPosition = _transform.position;
            _fixedData.LookPitch = pitch;
            _fixedData.LookYaw = yaw;

            // if (!base.Object.HasStateAuthority)
            // {
                // ReadNetworkData();
                SynchronizeTransform(_fixedData, synchronizePosition: true, synchronizeRotation: true, allowAntiJitter: false);
            // }

            // _renderData = new();
            // _renderData.CopyFromOther(_fixedData);
            // _lastRenderPosition = _renderData.TargetPosition;
            // _lastAntiJitterPosition = _renderData.TargetPosition;
            RefreshCollider();
            RefreshChildColliders();
            if (this._onSpawn != null)
            {
                try
                {
                    this._onSpawn(this);
                }
                catch (Exception exception)
                {
                    Debug.LogException(exception);
                }

                this._onSpawn = null;
            }
        }

        private void OnFixedUpdateInternal()
        {
            if (!IsInFixedUpdate)
            {
                throw new InvalidOperationException("[" + base.name + "] KCC fixed update called from render update! This is not allowed.");
            }

            RefreshCollider();
            MovePredicted(_fixedData);
            if (_fixedData.IsActive)
            {
                SynchronizeTransform(_fixedData, synchronizePosition: true, synchronizeRotation: true, allowAntiJitter: false);
            }
        }

        private void MovePredicted(KCCData data)
        {
            float time = data.Time;
            float deltaTime = data.DeltaTime;
            Vector3 targetPosition = data.TargetPosition;
            Vector3 targetPosition2 = data.TargetPosition;
            bool isGrounded = data.IsGrounded;
            bool isSteppingUp = data.IsSteppingUp;
            bool isSnappingToGround = data.IsSnappingToGround;
            data.DeltaTime = deltaTime;
            data.BasePosition = targetPosition;
            data.DesiredPosition = targetPosition2;
            if (!data.IsActive)
            {
                data.ClearTransientProperties();
                ForceRemoveAllHits(data);
                return;
            }

            SetBaseProperties(data);
            if (!data.IsActive)
            {
                data.ClearTransientProperties();
                ForceRemoveAllHits(data);
                return;
            }

            deltaTime = data.DeltaTime;
            targetPosition = data.BasePosition;
            if (deltaTime < KCCSettings.ExtrapolationDeltaTimeThreshold)
            {
                Vector3 vector = data.DesiredVelocity;
                if (data.RealVelocity.sqrMagnitude <= vector.sqrMagnitude)
                {
                    vector = data.RealVelocity;
                }

                targetPosition2 = targetPosition + vector * deltaTime;
                data.BasePosition = targetPosition;
                data.DesiredPosition = targetPosition2;
                data.TargetPosition = targetPosition2;
                return;
            }

            EnvironmentProcessor.SetDynamicVelocity(this, data);
            ForceRemoveAllHits(data);
            float num = Mathf.Clamp01(deltaTime);
            Vector3 vector2 = data.DesiredVelocity * num + data.ExternalDelta;
            targetPosition2 = (data.DesiredPosition = data.BasePosition + vector2);
            data.TargetPosition = data.BasePosition;
            data.ExternalDelta = default(Vector3);
            bool flag = false;
            float num2 = Mathf.Clamp(_settings.CCDRadiusMultiplier, 0.25f, 0.75f);
            float num3 = _settings.Radius * (num2 + 0.1f);
            float num4 = _settings.Radius * num2;
            Vector3 targetPosition3 = data.TargetPosition;
            while (!flag && !data.HasTeleported)
            {
                data.BasePosition = data.TargetPosition;
                float num5 = num;
                Vector3 vector3 = vector2;
                float magnitude = vector3.magnitude;
                if (magnitude > num3)
                {
                    float num6 = num4 / magnitude;
                    num5 *= num6;
                    vector3 *= num6;
                }
                else
                {
                    flag = true;
                }

                num -= num5;
                vector2 -= vector3;
                if (num <= 0f)
                {
                    num = 0f;
                }

                data.Time = time - num;
                data.DeltaTime = num5;
                data.DesiredPosition = data.BasePosition + vector3;
                data.TargetPosition = data.DesiredPosition;
                data.WasGrounded = data.IsGrounded;
                data.WasSteppingUp = data.IsSteppingUp;
                data.WasSnappingToGround = data.IsSnappingToGround;
                ProcessMoveStep(data);
                if (!data.HasTeleported)
                {
                    targetPosition3 = data.TargetPosition;
                }

                if (data.HasTeleported)
                {
                    UpdateHits(data, null, EKCCHitsOverlapQuery.New);
                }

                if (flag && !data.ExternalDelta.IsZero())
                {
                    vector2 += data.ExternalDelta;
                    data.ExternalDelta = default(Vector3);
                    flag = false;
                }
            }

            data.Time = time;
            data.DeltaTime = deltaTime;
            data.BasePosition = targetPosition;
            data.DesiredPosition = targetPosition2;
            data.WasGrounded = isGrounded;
            data.WasSteppingUp = isSteppingUp;
            data.WasSnappingToGround = isSnappingToGround;
            data.RealVelocity = (targetPosition3 - data.BasePosition) / data.DeltaTime;
            data.RealSpeed = data.RealVelocity.magnitude;
            Vector3 targetPosition4 = data.TargetPosition;
            if (!data.TargetPosition.IsEqual(targetPosition4))
            {
                UpdateHits(data, null, EKCCHitsOverlapQuery.New);
            }

            targetPosition4 = data.TargetPosition;
            if (!data.TargetPosition.IsEqual(targetPosition4))
            {
                UpdateHits(data, null, EKCCHitsOverlapQuery.New);
            }
        }

        private void SetBaseProperties(KCCData data)
        {
            data.HasTeleported = false;
            data.MaxPenetrationSteps = _settings.MaxPenetrationSteps;
            if (data.Frame == _fixedData.Frame)
            {
                data.JumpFrames = 0;
            }
        }

        private void ProcessMoveStep(KCCData data)
        {
            data.IsGrounded = false;
            data.IsSteppingUp = false;
            data.IsSnappingToGround = false;
            data.GroundNormal = default(Vector3);
            data.GroundTangent = default(Vector3);
            data.GroundPosition = default(Vector3);
            data.GroundDistance = 0f;
            data.GroundAngle = 0f;
            ForceRemoveAllHits(data);
            bool flag = data.JumpFrames > 0;
            if ((int)_settings.CollisionLayerMask != 0 && _collider.IsSpawned)
            {
                float radius = _settings.Radius;
                EKCCHitsOverlapQuery overlapQuery = EKCCHitsOverlapQuery.Default;
                CapsuleOverlap(_extendedOverlapInfo, data, data.TargetPosition, _settings.Radius, _settings.Height, radius, _settings.CollisionLayerMask, QueryTriggerInteraction.Collide);
                data.TargetPosition = ResolvePenetration(_extendedOverlapInfo, data, data.BasePosition, data.TargetPosition, !flag, data.MaxPenetrationSteps, 3, resolveTriggers: true);
                UpdateHits(data, _extendedOverlapInfo, overlapQuery);
            }

            if (flag)
            {
                data.IsGrounded = false;
            }

            EnvironmentProcessor.AfterMoveStep(this, data);
            StepUpProcessor.AfterMoveStep(this, data, _extendedOverlapInfo);
            GroundSnapProcessor.AfterMoveStep(this, data, _extendedOverlapInfo);
        }

        private void SynchronizeTransform(KCCData data, bool synchronizePosition, bool synchronizeRotation, bool allowAntiJitter)
        {
            if (synchronizePosition)
            {
                Vector3 vector = data.TargetPosition;
                _rigidbody.position = vector;
                if (allowAntiJitter && !_settings.AntiJitterDistance.IsZero())
                {
                    Vector3 vector2 = vector - _lastAntiJitterPosition;
                    if (vector2.sqrMagnitude < _settings.TeleportThreshold * _settings.TeleportThreshold)
                    {
                        vector = _lastAntiJitterPosition;
                        float num = Mathf.Abs(vector2.y);
                        if (num > 1E-06f)
                        {
                            vector.y += vector2.y * Mathf.Clamp01((num - _settings.AntiJitterDistance.y) / num);
                        }

                        Vector3 vector3 = vector2.OnlyXZ();
                        float num2 = Vector3.Magnitude(vector3);
                        if (num2 > 1E-06f)
                        {
                            vector += vector3 * Mathf.Clamp01((num2 - _settings.AntiJitterDistance.x) / num2);
                        }
                    }

                    _lastAntiJitterPosition = vector;
                }

                if (synchronizeRotation)
                {
                    _transform.SetPositionAndRotation(vector, data.TransformRotation);
                }
                else
                {
                    _transform.position = vector;
                }
            }
            else if (synchronizeRotation)
            {
                _transform.rotation = data.TransformRotation;
            }
        }

        private void RefreshCollider()
        {
            if (_settings.Shape == EKCCShape.None)
            {
                _collider.Destroy();
                return;
            }

            _settings.Radius = Mathf.Max(0.01f, _settings.Radius);
            _settings.Height = Mathf.Max(_settings.Radius * 2f, _settings.Height);
            _settings.Extent = Mathf.Max(0f, _settings.Extent);
            _collider.Update(this);
        }

        private void SetDefaults(bool cleanup)
        {
            _fixedData.Clear();
            // _renderData.Clear();
            Array.Clear(_historyData, 0, _historyData.Length);
            _extendedOverlapInfo.Reset(deep: true);
            _trackOverlapInfo.Reset(deep: true);
            _childColliders.Clear();
            Array.Clear(_raycastHits, 0, _raycastHits.Length);
            Array.Clear(_hitColliders, 0, _hitColliders.Length);
            Array.Clear(_addColliders, 0, _addColliders.Length);
            Array.Clear(_removeColliders, 0, _removeColliders.Length);

            // _raycastHits.Clear();
            // _hitColliders.Clear();
            // _addColliders.Clear();
            // _removeColliders.Clear();
            _rigidbody.isKinematic = true;
            // _lastRenderTime = 0f;
            // _lastRenderPosition = default(Vector3);
            _lastAntiJitterPosition = default(Vector3);
            _predictionError = default(Vector3);
            if (cleanup)
            {
                _isSpawned = false;
                // _isInFixedUpdate = false;
                _settings.CopyFromOther(_defaultSettings);
                _collider.Destroy();
                this._onSpawn = null;
                ResolveCollision = null;
            }
        }

        internal Vector3 ResolvePenetration(KCCOverlapInfo overlapInfo, KCCData data, Vector3 basePosition, Vector3 targetPosition, bool probeGrounding, int maxSteps, int resolverIterations, bool resolveTriggers)
        {
            if (_settings.SuppressConvexMeshColliders)
            {
                overlapInfo.ToggleConvexMeshColliders(convex: false);
            }

            if (overlapInfo.ColliderHitCount == 1)
            {
                targetPosition = DepenetrateSingle(overlapInfo, data, basePosition, targetPosition, probeGrounding, maxSteps);
            }
            else if (overlapInfo.ColliderHitCount > 1)
            {
                targetPosition = DepenetrateMultiple(overlapInfo, data, basePosition, targetPosition, probeGrounding, maxSteps, resolverIterations);
            }

            RecalculateGroundProperties(data);
            if (resolveTriggers)
            {
                for (int i = 0; i < overlapInfo.TriggerHitCount; i++)
                {
                    KCCOverlapHit kCCOverlapHit = overlapInfo.TriggerHits[i];
                    kCCOverlapHit.Transform.GetPositionAndRotation(out kCCOverlapHit.CachedPosition, out kCCOverlapHit.CachedRotation);
                    kCCOverlapHit.CollisionType = ((kCCOverlapHit.IsWithinExtent = (kCCOverlapHit.HasPenetration = Physics.ComputePenetration(_collider.Collider, data.TargetPosition, Quaternion.identity, kCCOverlapHit.Collider, kCCOverlapHit.CachedPosition, kCCOverlapHit.CachedRotation, out var _, out var distance))) ? ECollisionType.Trigger : ECollisionType.None);
                    if (distance > kCCOverlapHit.MaxPenetration)
                    {
                        kCCOverlapHit.MaxPenetration = distance;
                    }
                }
            }

            if (_settings.SuppressConvexMeshColliders)
            {
                overlapInfo.ToggleConvexMeshColliders(convex: true);
            }

            return targetPosition;
        }

        private Vector3 DepenetrateSingle(KCCOverlapInfo overlapInfo, KCCData data, Vector3 basePosition, Vector3 targetPosition, bool probeGrounding, int maxSteps)
        {
            float num = Mathf.Cos(Mathf.Clamp(data.MaxGroundAngle, 0f, 90f) * (MathF.PI / 180f));
            float num2 = 0f - Mathf.Cos(Mathf.Clamp(90f - data.MaxWallAngle, 0f, 90f) * (MathF.PI / 180f));
            float num3 = 0f - Mathf.Cos(Mathf.Clamp(90f - data.MaxHangAngle, 0f, 90f) * (MathF.PI / 180f));
            Vector3 vector = Vector3.up;
            float num4 = 0f;
            KCCOverlapHit kCCOverlapHit = overlapInfo.ColliderHits[0];
            kCCOverlapHit.UpDirectionDot = float.MinValue;
            kCCOverlapHit.Transform.GetPositionAndRotation(out kCCOverlapHit.CachedPosition, out kCCOverlapHit.CachedRotation);
            if (maxSteps > 1)
            {
                float num5 = 0.001f;
                float num6 = Vector3.Distance(basePosition, targetPosition);
                if (num6 < (float)maxSteps * num5)
                {
                    maxSteps = Mathf.Max(1, (int)(num6 / num5));
                }
            }

            if (maxSteps <= 1)
            {
                kCCOverlapHit.HasPenetration = Physics.ComputePenetration(_collider.Collider, targetPosition, Quaternion.identity, kCCOverlapHit.Collider, kCCOverlapHit.CachedPosition, kCCOverlapHit.CachedRotation, out var direction, out var distance);
                if (kCCOverlapHit.HasPenetration)
                {
                    kCCOverlapHit.IsWithinExtent = true;
                    if (distance > kCCOverlapHit.MaxPenetration)
                    {
                        kCCOverlapHit.MaxPenetration = distance;
                    }

                    float num7 = Vector3.Dot(direction, Vector3.up);
                    if (num7 > kCCOverlapHit.UpDirectionDot)
                    {
                        kCCOverlapHit.UpDirectionDot = num7;
                        if (num7 >= num)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Ground;
                            data.IsGrounded = true;
                            vector = direction;
                        }
                        else if (num7 > 0f - num2)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Slope;
                        }
                        else if (num7 >= num2)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Wall;
                        }
                        else if (num7 >= num3)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Hang;
                        }
                        else
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Top;
                        }
                    }

                    if (num7 > 0f && num7 < num && distance >= 1E-06f && data.DynamicVelocity.y <= 0f && Vector3.Dot((targetPosition - basePosition).OnlyXZ(), direction.OnlyXZ()) < 0f)
                    {
                        KCCPhysicsUtility.ProjectVerticalPenetration(ref direction, ref distance);
                    }

                    targetPosition += direction * distance;
                }
            }
            else
            {
                Vector3 vector2 = (targetPosition - basePosition) / maxSteps;
                Vector3 vector3 = basePosition;
                int num8 = maxSteps;
                while (num8 > 0)
                {
                    num8--;
                    vector3 += vector2;
                    kCCOverlapHit.HasPenetration = Physics.ComputePenetration(_collider.Collider, vector3, Quaternion.identity, kCCOverlapHit.Collider, kCCOverlapHit.CachedPosition, kCCOverlapHit.CachedRotation, out var direction2, out var distance2);
                    if (!kCCOverlapHit.HasPenetration)
                    {
                        continue;
                    }

                    kCCOverlapHit.IsWithinExtent = true;
                    if (distance2 > kCCOverlapHit.MaxPenetration)
                    {
                        kCCOverlapHit.MaxPenetration = distance2;
                    }

                    float num9 = Vector3.Dot(direction2, Vector3.up);
                    if (num9 > kCCOverlapHit.UpDirectionDot)
                    {
                        kCCOverlapHit.UpDirectionDot = num9;
                        if (num9 >= num)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Ground;
                            data.IsGrounded = true;
                            vector = direction2;
                        }
                        else if (num9 > 0f - num2)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Slope;
                        }
                        else if (num9 >= num2)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Wall;
                        }
                        else if (num9 >= num3)
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Hang;
                        }
                        else
                        {
                            kCCOverlapHit.CollisionType = ECollisionType.Top;
                        }
                    }

                    if (num9 > 0f && num9 < num && distance2 >= 1E-06f && data.DynamicVelocity.y <= 0f && Vector3.Dot(vector2.OnlyXZ(), direction2.OnlyXZ()) < 0f)
                    {
                        KCCPhysicsUtility.ProjectVerticalPenetration(ref direction2, ref distance2);
                    }

                    vector3 += direction2 * distance2;
                }

                targetPosition = vector3;
            }

            if (kCCOverlapHit.UpDirectionDot == float.MinValue)
            {
                kCCOverlapHit.UpDirectionDot = 0f;
            }

            if (probeGrounding && !data.IsGrounded)
            {
                if (KCCPhysicsUtility.CheckGround(_collider.Collider, targetPosition, kCCOverlapHit.Collider, kCCOverlapHit.CachedPosition, kCCOverlapHit.CachedRotation, _settings.Radius, _settings.Height, _settings.Extent, num, out var groundNormal, out var groundDistance, out var isWithinExtent))
                {
                    data.IsGrounded = true;
                    vector = groundNormal;
                    num4 = groundDistance;
                    kCCOverlapHit.IsWithinExtent = true;
                    kCCOverlapHit.CollisionType = ECollisionType.Ground;
                }
                else if (isWithinExtent)
                {
                    kCCOverlapHit.IsWithinExtent = true;
                    if (kCCOverlapHit.CollisionType == ECollisionType.None)
                    {
                        kCCOverlapHit.CollisionType = ECollisionType.Slope;
                    }
                }
            }

            if (data.IsGrounded)
            {
                data.GroundNormal = vector;
                data.GroundAngle = Vector3.Angle(vector, Vector3.up);
                data.GroundPosition = targetPosition + new Vector3(0f, _settings.Radius, 0f) - vector * (_settings.Radius + num4);
                data.GroundDistance = num4;
            }

            return targetPosition;
        }

        private Vector3 DepenetrateMultiple(KCCOverlapInfo overlapInfo, KCCData data, Vector3 basePosition, Vector3 targetPosition, bool probeGrounding, int maxSteps, int resolverIterations)
        {
            float num = Mathf.Cos(Mathf.Clamp(data.MaxGroundAngle, 0f, 90f) * (MathF.PI / 180f));
            float num2 = 0f - Mathf.Cos(Mathf.Clamp(90f - data.MaxWallAngle, 0f, 90f) * (MathF.PI / 180f));
            float num3 = 0f - Mathf.Cos(Mathf.Clamp(90f - data.MaxHangAngle, 0f, 90f) * (MathF.PI / 180f));
            float num4 = 0f;
            float num5 = 0f;
            Vector3 other = default(Vector3);
            Vector3 vector = default(Vector3);
            Vector3 lhs = (targetPosition - basePosition).OnlyXZ();
            for (int i = 0; i < overlapInfo.ColliderHitCount; i++)
            {
                KCCOverlapHit kCCOverlapHit = overlapInfo.ColliderHits[i];
                kCCOverlapHit.UpDirectionDot = float.MinValue;
                kCCOverlapHit.Transform.GetPositionAndRotation(out kCCOverlapHit.CachedPosition, out kCCOverlapHit.CachedRotation);
            }

            if (maxSteps > 1)
            {
                float num6 = 0.001f;
                float num7 = Vector3.Distance(basePosition, targetPosition);
                if (num7 < (float)maxSteps * num6)
                {
                    maxSteps = Mathf.Max(1, (int)(num7 / num6));
                }
            }

            if (maxSteps <= 1)
            {
                _resolver.Reset();
                for (int j = 0; j < overlapInfo.ColliderHitCount; j++)
                {
                    KCCOverlapHit kCCOverlapHit2 = overlapInfo.ColliderHits[j];
                    kCCOverlapHit2.HasPenetration = Physics.ComputePenetration(_collider.Collider, targetPosition, Quaternion.identity, kCCOverlapHit2.Collider, kCCOverlapHit2.CachedPosition, kCCOverlapHit2.CachedRotation, out var direction, out var distance);
                    if (!kCCOverlapHit2.HasPenetration)
                    {
                        continue;
                    }

                    kCCOverlapHit2.IsWithinExtent = true;
                    if (distance > kCCOverlapHit2.MaxPenetration)
                    {
                        kCCOverlapHit2.MaxPenetration = distance;
                    }

                    float num8 = Vector3.Dot(direction, Vector3.up);
                    if (num8 > kCCOverlapHit2.UpDirectionDot)
                    {
                        kCCOverlapHit2.UpDirectionDot = num8;
                        if (num8 >= num)
                        {
                            kCCOverlapHit2.CollisionType = ECollisionType.Ground;
                            data.IsGrounded = true;
                            if (num8 >= num5)
                            {
                                num5 = num8;
                                other = direction;
                            }

                            vector += direction * num8;
                        }
                        else if (num8 > 0f - num2)
                        {
                            kCCOverlapHit2.CollisionType = ECollisionType.Slope;
                        }
                        else if (num8 >= num2)
                        {
                            kCCOverlapHit2.CollisionType = ECollisionType.Wall;
                        }
                        else if (num8 >= num3)
                        {
                            kCCOverlapHit2.CollisionType = ECollisionType.Hang;
                        }
                        else
                        {
                            kCCOverlapHit2.CollisionType = ECollisionType.Top;
                        }
                    }

                    if (num8 > 0f && num8 < num && distance >= 1E-06f && data.DynamicVelocity.y <= 0f && Vector3.Dot(lhs, direction.OnlyXZ()) < 0f)
                    {
                        KCCPhysicsUtility.ProjectVerticalPenetration(ref direction, ref distance);
                    }

                    _resolver.AddCorrection(direction, distance);
                }

                int num9 = Mathf.Max(0, resolverIterations);
                float num10 = 1f - (float)Mathf.Min(num9, 2) * 0.25f;
                if (_resolver.Size == 2)
                {
                    _resolver.GetCorrection(0, out var direction2);
                    _resolver.GetCorrection(1, out var direction3);
                    if (Vector3.Dot(direction2, direction3) >= 0f)
                    {
                        targetPosition += _resolver.CalculateMinMax() * num10;
                    }
                    else
                    {
                        targetPosition += _resolver.CalculateBinary() * num10;
                    }
                }
                else
                {
                    targetPosition += _resolver.CalculateGradientDescent(12, 0.0001f) * num10;
                }

                while (num9 > 0)
                {
                    num9--;
                    _resolver.Reset();
                    for (int k = 0; k < overlapInfo.ColliderHitCount; k++)
                    {
                        KCCOverlapHit kCCOverlapHit3 = overlapInfo.ColliderHits[k];
                        if (!Physics.ComputePenetration(_collider.Collider, targetPosition, Quaternion.identity, kCCOverlapHit3.Collider, kCCOverlapHit3.CachedPosition, kCCOverlapHit3.CachedRotation, out var direction4, out var distance2))
                        {
                            continue;
                        }

                        kCCOverlapHit3.IsWithinExtent = true;
                        kCCOverlapHit3.HasPenetration = true;
                        if (distance2 > kCCOverlapHit3.MaxPenetration)
                        {
                            kCCOverlapHit3.MaxPenetration = distance2;
                        }

                        float num11 = Vector3.Dot(direction4, Vector3.up);
                        if (num11 > kCCOverlapHit3.UpDirectionDot)
                        {
                            kCCOverlapHit3.UpDirectionDot = num11;
                            if (num11 >= num)
                            {
                                kCCOverlapHit3.CollisionType = ECollisionType.Ground;
                                data.IsGrounded = true;
                                if (num11 >= num5)
                                {
                                    num5 = num11;
                                    other = direction4;
                                }

                                vector += direction4 * num11;
                            }
                            else if (num11 > 0f - num2)
                            {
                                kCCOverlapHit3.CollisionType = ECollisionType.Slope;
                            }
                            else if (num11 >= num2)
                            {
                                kCCOverlapHit3.CollisionType = ECollisionType.Wall;
                            }
                            else if (num11 >= num3)
                            {
                                kCCOverlapHit3.CollisionType = ECollisionType.Hang;
                            }
                            else
                            {
                                kCCOverlapHit3.CollisionType = ECollisionType.Top;
                            }
                        }

                        if (num11 > 0f && num11 < num && distance2 >= 1E-06f && data.DynamicVelocity.y <= 0f && Vector3.Dot(lhs, direction4.OnlyXZ()) < 0f)
                        {
                            KCCPhysicsUtility.ProjectVerticalPenetration(ref direction4, ref distance2);
                        }

                        _resolver.AddCorrection(direction4, distance2);
                    }

                    if (_resolver.Size == 0)
                    {
                        break;
                    }

                    switch (num9)
                    {
                        case 0:
                            if (_resolver.Size == 2)
                            {
                                _resolver.GetCorrection(0, out var direction5);
                                _resolver.GetCorrection(1, out var direction6);
                                if (Vector3.Dot(direction5, direction6) >= 0f)
                                {
                                    targetPosition += _resolver.CalculateGradientDescent(12, 0.0001f);
                                }
                                else
                                {
                                    targetPosition += _resolver.CalculateBinary();
                                }
                            }
                            else
                            {
                                targetPosition += _resolver.CalculateGradientDescent(12, 0.0001f);
                            }

                            break;
                        case 1:
                            targetPosition += _resolver.CalculateMinMax() * 0.75f;
                            break;
                        default:
                            targetPosition += _resolver.CalculateMinMax() * 0.5f;
                            break;
                    }
                }
            }
            else
            {
                Vector3 vector2 = (targetPosition - basePosition) / maxSteps;
                Vector3 vector3 = basePosition;
                int num12 = maxSteps;
                while (num12 > 1)
                {
                    num12--;
                    vector3 += vector2;
                    _resolver.Reset();
                    for (int l = 0; l < overlapInfo.ColliderHitCount; l++)
                    {
                        KCCOverlapHit kCCOverlapHit4 = overlapInfo.ColliderHits[l];
                        kCCOverlapHit4.HasPenetration = Physics.ComputePenetration(_collider.Collider, vector3, Quaternion.identity, kCCOverlapHit4.Collider, kCCOverlapHit4.CachedPosition, kCCOverlapHit4.CachedRotation, out var direction7, out var distance3);
                        if (!kCCOverlapHit4.HasPenetration)
                        {
                            continue;
                        }

                        kCCOverlapHit4.IsWithinExtent = true;
                        if (distance3 > kCCOverlapHit4.MaxPenetration)
                        {
                            kCCOverlapHit4.MaxPenetration = distance3;
                        }

                        float num13 = Vector3.Dot(direction7, Vector3.up);
                        if (num13 > kCCOverlapHit4.UpDirectionDot)
                        {
                            kCCOverlapHit4.UpDirectionDot = num13;
                            if (num13 >= num)
                            {
                                kCCOverlapHit4.CollisionType = ECollisionType.Ground;
                                data.IsGrounded = true;
                                if (num13 >= num5)
                                {
                                    num5 = num13;
                                    other = direction7;
                                }

                                vector += direction7 * num13;
                            }
                            else if (num13 > 0f - num2)
                            {
                                kCCOverlapHit4.CollisionType = ECollisionType.Slope;
                            }
                            else if (num13 >= num2)
                            {
                                kCCOverlapHit4.CollisionType = ECollisionType.Wall;
                            }
                            else if (num13 >= num3)
                            {
                                kCCOverlapHit4.CollisionType = ECollisionType.Hang;
                            }
                            else
                            {
                                kCCOverlapHit4.CollisionType = ECollisionType.Top;
                            }
                        }

                        if (num13 > 0f && num13 < num && distance3 >= 1E-06f && data.DynamicVelocity.y <= 0f && Vector3.Dot(vector2.OnlyXZ(), direction7.OnlyXZ()) < 0f)
                        {
                            KCCPhysicsUtility.ProjectVerticalPenetration(ref direction7, ref distance3);
                        }

                        _resolver.AddCorrection(direction7, distance3);
                    }

                    if (_resolver.Size == 2)
                    {
                        _resolver.GetCorrection(0, out var direction8);
                        _resolver.GetCorrection(1, out var direction9);
                        if (Vector3.Dot(direction8, direction9) >= 0f)
                        {
                            vector3 += _resolver.CalculateMinMax();
                        }
                        else
                        {
                            vector3 += _resolver.CalculateBinary();
                        }
                    }
                    else
                    {
                        vector3 += _resolver.CalculateMinMax();
                    }
                }

                num12--;
                vector3 += vector2;
                _resolver.Reset();
                for (int m = 0; m < overlapInfo.ColliderHitCount; m++)
                {
                    KCCOverlapHit kCCOverlapHit5 = overlapInfo.ColliderHits[m];
                    kCCOverlapHit5.HasPenetration = Physics.ComputePenetration(_collider.Collider, vector3, Quaternion.identity, kCCOverlapHit5.Collider, kCCOverlapHit5.CachedPosition, kCCOverlapHit5.CachedRotation, out var direction10, out var distance4);
                    if (!kCCOverlapHit5.HasPenetration)
                    {
                        continue;
                    }

                    kCCOverlapHit5.IsWithinExtent = true;
                    if (distance4 > kCCOverlapHit5.MaxPenetration)
                    {
                        kCCOverlapHit5.MaxPenetration = distance4;
                    }

                    float num14 = Vector3.Dot(direction10, Vector3.up);
                    if (num14 > kCCOverlapHit5.UpDirectionDot)
                    {
                        kCCOverlapHit5.UpDirectionDot = num14;
                        if (num14 >= num)
                        {
                            kCCOverlapHit5.CollisionType = ECollisionType.Ground;
                            data.IsGrounded = true;
                            if (num14 >= num5)
                            {
                                num5 = num14;
                                other = direction10;
                            }

                            vector += direction10 * num14;
                        }
                        else if (num14 > 0f - num2)
                        {
                            kCCOverlapHit5.CollisionType = ECollisionType.Slope;
                        }
                        else if (num14 >= num2)
                        {
                            kCCOverlapHit5.CollisionType = ECollisionType.Wall;
                        }
                        else if (num14 >= num3)
                        {
                            kCCOverlapHit5.CollisionType = ECollisionType.Hang;
                        }
                        else
                        {
                            kCCOverlapHit5.CollisionType = ECollisionType.Top;
                        }
                    }

                    if (num14 > 0f && num14 < num && distance4 >= 1E-06f && data.DynamicVelocity.y <= 0f && Vector3.Dot(vector2.OnlyXZ(), direction10.OnlyXZ()) < 0f)
                    {
                        KCCPhysicsUtility.ProjectVerticalPenetration(ref direction10, ref distance4);
                    }

                    _resolver.AddCorrection(direction10, distance4);
                }

                if (_resolver.Size == 2)
                {
                    _resolver.GetCorrection(0, out var direction11);
                    _resolver.GetCorrection(1, out var direction12);
                    if (Vector3.Dot(direction11, direction12) >= 0f)
                    {
                        vector3 += _resolver.CalculateMinMax();
                    }
                    else
                    {
                        vector3 += _resolver.CalculateBinary();
                    }
                }
                else
                {
                    vector3 += _resolver.CalculateGradientDescent(12, 0.0001f);
                }

                targetPosition = vector3;
            }

            for (int n = 0; n < overlapInfo.ColliderHitCount; n++)
            {
                KCCOverlapHit kCCOverlapHit6 = overlapInfo.ColliderHits[n];
                if (kCCOverlapHit6.UpDirectionDot == float.MinValue)
                {
                    kCCOverlapHit6.UpDirectionDot = 0f;
                }
            }

            if (probeGrounding && !data.IsGrounded)
            {
                Vector3 vector4 = Vector3.up;
                float num15 = 1000f;
                for (int num16 = 0; num16 < overlapInfo.ColliderHitCount; num16++)
                {
                    KCCOverlapHit kCCOverlapHit7 = overlapInfo.ColliderHits[num16];
                    if (KCCPhysicsUtility.CheckGround(_collider.Collider, targetPosition, kCCOverlapHit7.Collider, kCCOverlapHit7.CachedPosition, kCCOverlapHit7.CachedRotation, _settings.Radius, _settings.Height, _settings.Extent, num, out var groundNormal, out var groundDistance, out var isWithinExtent))
                    {
                        data.IsGrounded = true;
                        if (groundDistance < num15)
                        {
                            vector4 = groundNormal;
                            num15 = groundDistance;
                        }

                        kCCOverlapHit7.IsWithinExtent = true;
                        kCCOverlapHit7.CollisionType = ECollisionType.Ground;
                    }
                    else if (isWithinExtent)
                    {
                        kCCOverlapHit7.IsWithinExtent = true;
                        if (kCCOverlapHit7.CollisionType == ECollisionType.None)
                        {
                            kCCOverlapHit7.CollisionType = ECollisionType.Slope;
                        }
                    }
                }

                if (data.IsGrounded)
                {
                    other = vector4;
                    vector = vector4;
                    num4 = num15;
                }
            }

            if (data.IsGrounded)
            {
                if (!vector.IsEqual(other))
                {
                    vector.Normalize();
                }

                data.GroundNormal = vector;
                data.GroundAngle = Vector3.Angle(data.GroundNormal, Vector3.up);
                data.GroundPosition = targetPosition + new Vector3(0f, _settings.Radius, 0f) - data.GroundNormal * (_settings.Radius + num4);
                data.GroundDistance = num4;
            }

            return targetPosition;
        }

        private static void RecalculateGroundProperties(KCCData data)
        {
            if (data.IsGrounded)
            {
                Vector3 projectedVector2;
                if (KCCPhysicsUtility.ProjectOnGround(data.GroundNormal, data.GroundNormal.OnlyXZ(), out var projectedVector))
                {
                    data.GroundTangent = projectedVector.normalized;
                }
                else if (KCCPhysicsUtility.ProjectOnGround(data.GroundNormal, data.DesiredVelocity.OnlyXZ(), out projectedVector2))
                {
                    data.GroundTangent = projectedVector2.normalized;
                }
                else
                {
                    data.GroundTangent = data.TransformDirection;
                }
            }
        }

        public void SetActive(bool isActive) => _fixedData.IsActive = isActive;

        public Vector2 GetLookRotation(bool pitch = true, bool yaw = true) => Data.GetLookRotation(pitch, yaw);

        public void AddLookRotation(float pitchDelta, float yawDelta)
        {
            KCCData kCCData = _fixedData;
            kCCData.AddLookRotation(pitchDelta, yawDelta);
            SynchronizeTransform(kCCData, synchronizePosition: false, synchronizeRotation: true, allowAntiJitter: false);
        }

        public void AddLookRotation(float pitchDelta, float yawDelta, float minPitch, float maxPitch)
        {
            KCCData kCCData = _fixedData;
            kCCData.AddLookRotation(pitchDelta, yawDelta, minPitch, maxPitch);
            SynchronizeTransform(kCCData, synchronizePosition: false, synchronizeRotation: true, allowAntiJitter: false);
        }

        public void AddLookRotation(Vector2 lookRotationDelta)
        {
            AddLookRotation(lookRotationDelta.x, lookRotationDelta.y);
        }

        public void AddLookRotation(Vector2 lookRotationDelta, float minPitch, float maxPitch)
        {
            AddLookRotation(lookRotationDelta.x, lookRotationDelta.y, minPitch, maxPitch);
        }

        public void SetLookRotation(float pitch, float yaw)
        {
            KCCData kCCData = _fixedData;
            kCCData.SetLookRotation(pitch, yaw);
            SynchronizeTransform(kCCData, synchronizePosition: false, synchronizeRotation: true, allowAntiJitter: false);
        }

        public void SetLookRotation(Vector2 lookRotation) => SetLookRotation(lookRotation.x, lookRotation.y);

        public void SetLookRotation(Quaternion lookRotation, bool preservePitch = false, bool preserveYaw = false)
        {
            KCCData kCCData = _fixedData;
            kCCData.SetLookRotation(lookRotation, preservePitch, preserveYaw);
            SynchronizeTransform(kCCData, synchronizePosition: false, synchronizeRotation: true, allowAntiJitter: false);
        }

        public void SetPosition(Vector3 position)
        {
            KCCData kCCData = _fixedData;
            kCCData.BasePosition = position;
            kCCData.DesiredPosition = position;
            kCCData.TargetPosition = position;
            kCCData.HasTeleported = true;
            kCCData.IsSteppingUp = false;
            kCCData.IsSnappingToGround = false;
            SynchronizeTransform(kCCData, synchronizePosition: true, synchronizeRotation: false, allowAntiJitter: false);
        }

        public void SetShape(EKCCShape shape, float radius = 0f, float height = 0f)
        {
            _settings.Shape = shape;
            if (radius > 0f)
            {
                _settings.Radius = radius;
            }

            if (height > 0f)
            {
                _settings.Height = height;
            }

            RefreshCollider();
        }

        public void SetTrigger(bool isTrigger)
        {
            _settings.IsTrigger = isTrigger;
            RefreshCollider();
        }

        public void SetRadius(float radius)
        {
            if (!(radius <= 0f))
            {
                _settings.Radius = radius;
                RefreshCollider();
            }
        }

        public void SetHeight(float height)
        {
            if (!(height <= 0f))
            {
                _settings.Height = height;
                RefreshCollider();
            }
        }

        public void SetColliderLayer(int layer)
        {
            _settings.ColliderLayer = layer;
            RefreshCollider();
        }

        public void SetCollisionLayerMask(LayerMask layerMask)
        {
            _settings.CollisionLayerMask = layerMask;
        }

        private void RestoreHistoryData(KCCData historyData)
        {
            if (_fixedData.IsGrounded)
            {
                _fixedData.IsGrounded = historyData.IsGrounded;
                _fixedData.WasGrounded = historyData.WasGrounded;
            }
        }

        internal bool SphereOverlap(KCCOverlapInfo overlapInfo, Vector3 position, float radius, QueryTriggerInteraction triggerInteraction)
        {
            return SphereOverlap(overlapInfo, Data, position, radius, 0f, _settings.CollisionLayerMask, triggerInteraction);
        }

        internal bool CapsuleOverlap(KCCOverlapInfo overlapInfo, Vector3 position, float radius, float height, QueryTriggerInteraction triggerInteraction)
        {
            return CapsuleOverlap(overlapInfo, Data, position, radius, height, 0f, _settings.CollisionLayerMask, triggerInteraction);
        }

        internal bool RayCast(KCCShapeCastInfo shapeCastInfo, Vector3 position, Vector3 direction, float maxDistance, QueryTriggerInteraction triggerInteraction)
        {
            return RayCast(shapeCastInfo, Data, position, direction, maxDistance, _settings.CollisionLayerMask, triggerInteraction);
        }

        internal bool SphereCast(KCCShapeCastInfo shapeCastInfo, Vector3 position, float radius, Vector3 direction, float maxDistance, QueryTriggerInteraction triggerInteraction, bool trackInitialOverlaps = true)
        {
            return SphereCast(shapeCastInfo, Data, position, radius, 0f, direction, maxDistance, _settings.CollisionLayerMask, triggerInteraction, trackInitialOverlaps);
        }

        internal bool CapsuleCast(KCCShapeCastInfo shapeCastInfo, Vector3 position, float radius, float height, Vector3 direction, float maxDistance, QueryTriggerInteraction triggerInteraction, bool trackInitialOverlaps = true)
        {
            return CapsuleCast(shapeCastInfo, Data, position, radius, height, 0f, direction, maxDistance, _settings.CollisionLayerMask, triggerInteraction, trackInitialOverlaps);
        }

        internal void UpdateHits(KCCOverlapInfo baseOverlapInfo, EKCCHitsOverlapQuery overlapQuery)
        {
            UpdateHits(Data, baseOverlapInfo, overlapQuery);
        }

        internal bool IsValidHitCollider(Collider hitCollider)
        {
            if (hitCollider == null)
            {
                return false;
            }

            return IsValidHitCollider(Data, hitCollider);
        }

        private bool SphereOverlap(KCCOverlapInfo overlapInfo, KCCData data, Vector3 position, float radius, float extent, LayerMask layerMask, QueryTriggerInteraction triggerInteraction)
        {
            overlapInfo.Reset(deep: false);
            overlapInfo.Position = position;
            overlapInfo.Radius = radius;
            overlapInfo.Height = 0f;
            overlapInfo.Extent = extent;
            overlapInfo.LayerMask = layerMask;
            overlapInfo.TriggerInteraction = triggerInteraction;
            // Collider[] hitColliders = _hitColliders;
            Collider[] hitColliders = Physics.OverlapSphere(position, radius + extent, layerMask, triggerInteraction);
            for (int i = 0; i < hitColliders.Length; i++)
            {
                Collider overlapCollider = hitColliders[i];
                if (IsValidHitColliderUnsafe(data, overlapCollider))
                {
                    overlapInfo.AddHit(overlapCollider);
                }
            }

            return overlapInfo.AllHitCount > 0;
        }

        private bool CapsuleOverlap(KCCOverlapInfo overlapInfo, KCCData data, Vector3 position, float radius, float height, float extent, LayerMask layerMask, QueryTriggerInteraction triggerInteraction)
        {
            overlapInfo.Reset(deep: false);
            overlapInfo.Position = position;
            overlapInfo.Radius = radius;
            overlapInfo.Height = height;
            overlapInfo.Extent = extent;
            overlapInfo.LayerMask = layerMask;
            overlapInfo.TriggerInteraction = triggerInteraction;
            Vector3 point = position + new Vector3(0f, height - radius, 0f);
            Vector3 point2 = position + new Vector3(0f, radius, 0f);
            // Collider[] hitColliders = _hitColliders;
            Collider[] hitColliders = Physics.OverlapCapsule(point2, point, radius + extent, layerMask, triggerInteraction);
            for (int i = 0; i < hitColliders.Length; i++)
            {
                Collider overlapCollider = hitColliders[i];
                if (IsValidHitColliderUnsafe(data, overlapCollider))
                {
                    overlapInfo.AddHit(overlapCollider);
                }
            }

            return overlapInfo.AllHitCount > 0;
        }

        private bool RayCast(KCCShapeCastInfo shapeCastInfo, KCCData data, Vector3 position, Vector3 direction, float maxDistance, LayerMask layerMask, QueryTriggerInteraction triggerInteraction)
        {
            shapeCastInfo.Reset(deep: false);
            shapeCastInfo.Position = position;
            shapeCastInfo.Direction = direction;
            shapeCastInfo.MaxDistance = maxDistance;
            shapeCastInfo.LayerMask = layerMask;
            shapeCastInfo.TriggerInteraction = triggerInteraction;
            // RaycastHit[] raycastHits = _raycastHits;
            // if(Physics.Raycast(position, direction, out RaycastHit hit, maxDistance, layerMask, triggerInteraction))
            // // int num = base.Runner.GetPhysicsScene().Raycast(position, direction, raycastHits, maxDistance, layerMask, triggerInteraction);
            // for (int i = 0; i < hit.; i++)
            // {
            //     RaycastHit raycastHit = raycastHits[i];
            //     if (IsValidHitColliderUnsafe(data, raycastHit.collider))
            //     {
            //         shapeCastInfo.AddHit(raycastHit);
            //     }
            // }

            // return shapeCastInfo.AllHitCount > 0;
            return Physics.Raycast(position, direction, maxDistance, layerMask, triggerInteraction);
        }

        private bool SphereCast(KCCShapeCastInfo shapeCastInfo, KCCData data, Vector3 position, float radius, float extent, Vector3 direction, float maxDistance, LayerMask layerMask, QueryTriggerInteraction triggerInteraction, bool trackInitialOverlaps)
        {
            shapeCastInfo.Reset(deep: false);
            shapeCastInfo.Position = position;
            shapeCastInfo.Radius = radius;
            shapeCastInfo.Extent = extent;
            shapeCastInfo.Direction = direction;
            shapeCastInfo.MaxDistance = maxDistance;
            shapeCastInfo.LayerMask = layerMask;
            shapeCastInfo.TriggerInteraction = triggerInteraction;
            RaycastHit[] raycastHits = _raycastHits;
            return Physics.SphereCast(position, radius + extent, direction, out RaycastHit info, maxDistance, layerMask, triggerInteraction);

            // int num = base.Runner.GetPhysicsScene().SphereCast(position, radius + extent, direction, raycastHits, maxDistance, layerMask, triggerInteraction);
            // for (int i = 0; i < num; i++)
            // {
            //     RaycastHit raycastHit = raycastHits[i];
            //     if ((trackInitialOverlaps || !(raycastHit.distance <= 0f) || !raycastHit.point.Equals(default(Vector3))) && IsValidHitColliderUnsafe(data, raycastHit.collider))
            //     {
            //         shapeCastInfo.AddHit(raycastHit);
            //     }
            // }

            // return shapeCastInfo.AllHitCount > 0;
        }

        private bool CapsuleCast(KCCShapeCastInfo shapeCastInfo, KCCData data, Vector3 position, float radius, float height, float extent, Vector3 direction, float maxDistance, LayerMask layerMask, QueryTriggerInteraction triggerInteraction, bool trackInitialOverlaps)
        {
            shapeCastInfo.Reset(deep: false);
            shapeCastInfo.Position = position;
            shapeCastInfo.Radius = radius;
            shapeCastInfo.Height = height;
            shapeCastInfo.Extent = extent;
            shapeCastInfo.Position = position;
            shapeCastInfo.Direction = direction;
            shapeCastInfo.MaxDistance = maxDistance;
            shapeCastInfo.LayerMask = layerMask;
            shapeCastInfo.TriggerInteraction = triggerInteraction;
            Vector3 point = position + new Vector3(0f, height - radius, 0f);
            Vector3 point2 = position + new Vector3(0f, radius, 0f);
            // RaycastHit[] raycastHits = _raycastHits;

            return Physics.CapsuleCast(point2, point, radius + extent, direction, out RaycastHit info, maxDistance, layerMask, triggerInteraction);

            // int num = base.Runner.GetPhysicsScene().CapsuleCast(point2, point, radius + extent, direction, raycastHits, maxDistance, layerMask, triggerInteraction);
            // for (int i = 0; i < num; i++)
            // {
            //     RaycastHit raycastHit = raycastHits[i];
            //     if ((trackInitialOverlaps || !(raycastHit.distance <= 0f) || !raycastHit.point.Equals(default(Vector3))) && IsValidHitColliderUnsafe(data, raycastHit.collider))
            //     {
            //         shapeCastInfo.AddHit(raycastHit);
            //     }
            // }

            // return shapeCastInfo.AllHitCount > 0;
        }

        private void UpdateHits(KCCData data, KCCOverlapInfo baseOverlapInfo, EKCCHitsOverlapQuery overlapQuery)
        {
            if (overlapQuery switch
            {
                EKCCHitsOverlapQuery.Default => baseOverlapInfo?.AllHitsWithinExtent() ?? false,
                EKCCHitsOverlapQuery.Reuse => baseOverlapInfo != null,
                EKCCHitsOverlapQuery.New => false,
                _ => throw new NotImplementedException("overlapQuery"),
            })
            {
                _trackOverlapInfo.CopyFromOther(baseOverlapInfo);
            }
            else
            {
                CapsuleOverlap(_trackOverlapInfo, data, data.TargetPosition, _settings.Radius, _settings.Height, _settings.Extent, _settings.CollisionLayerMask, QueryTriggerInteraction.Collide);
                if (baseOverlapInfo != null)
                {
                    for (int i = 0; i < _trackOverlapInfo.AllHitCount; i++)
                    {
                        KCCOverlapHit kCCOverlapHit = _trackOverlapInfo.AllHits[i];
                        for (int j = 0; j < baseOverlapInfo.AllHitCount; j++)
                        {
                            KCCOverlapHit kCCOverlapHit2 = baseOverlapInfo.AllHits[j];
                            if ((object)kCCOverlapHit.Collider == kCCOverlapHit2.Collider)
                            {
                                kCCOverlapHit.CopyFromOther(kCCOverlapHit2);
                            }
                        }
                    }
                }
            }

            data.Hits.Clear();
            int k = 0;
            for (int allHitCount = _trackOverlapInfo.AllHitCount; k < allHitCount; k++)
            {
                data.Hits.Add(_trackOverlapInfo.AllHits[k]);
            }
        }

        private void ForceRemoveAllHits(KCCData data)
        {
            _trackOverlapInfo.Reset(deep: false);
            _extendedOverlapInfo.Reset(deep: false);
            data.Hits.Clear();
        }

        private bool IsValidHitCollider(KCCData data, Collider hitCollider)
        {
            if (hitCollider == _collider.Collider)
            {
                return false;
            }

            int i = 0;
            for (int count = _childColliders.Count; i < count; i++)
            {
                if (hitCollider == _childColliders[i])
                {
                    return false;
                }
            }

            int num = 1 << hitCollider.gameObject.layer;
            if (((int)_settings.CollisionLayerMask & num) != num)
            {
                return false;
            }

            if (ResolveCollision != null)
            {
                try
                {
                    return ResolveCollision(this, hitCollider);
                }
                catch (Exception exception)
                {
                    Debug.LogException(exception);
                }
            }

            return true;
        }

        private bool IsValidHitColliderUnsafe(KCCData data, Collider overlapCollider)
        {
            if ((object)overlapCollider == _collider.Collider)
            {
                return false;
            }

            int i = 0;
            for (int count = _childColliders.Count; i < count; i++)
            {
                if ((object)overlapCollider == _childColliders[i])
                {
                    return false;
                }
            }

            if (ResolveCollision != null)
            {
                try
                {
                    return ResolveCollision(this, overlapCollider);
                }
                catch (Exception exception)
                {
                    Debug.LogException(exception);
                }
            }

            return true;
        }

        public void SetMaxGroundAngle(float maxGroundAngle)
        {
            if (IsSpawned)
            {
                Data.MaxGroundAngle = maxGroundAngle;
            }
        }

        public void SetGravity(float gravity)
        {
            if (IsSpawned)
            {
                Data.Gravity = Vector3.up * gravity;
            }
        }

        public void Move(Vector3 kinematicVelocity = default(Vector3), float jumpImpulse = 0f)
        {
            if (IsSpawned)
            {
                if (!IsInFixedUpdate)
                {
                    throw new InvalidOperationException("[" + base.name + "] Move can be invoked only from within fixed update!");
                }

                FixedData.KinematicVelocity = kinematicVelocity;
                FixedData.JumpImpulse += Vector3.up * jumpImpulse;
                ManualFixedUpdate();
            }
        }

        public bool ProjectOnGround(Vector3 vector, out Vector3 projectedVector)
        {
            KCCData data = Data;
            if (data.IsGrounded)
            {
                return KCCPhysicsUtility.ProjectOnGround(data.GroundNormal, vector, out projectedVector);
            }

            projectedVector = default(Vector3);
            return false;
        }
    }

}