CGrabController::ComputeError

/* CGrabController::ComputeError() */

longdouble __thiscall CGrabController::ComputeError(CGrabController *this)

{
  uint uVar1;
  int *piVar2;
  undefined *puVar3;
  int iVar4;
  float fVar5;
  float fVar6;
  float fVar7;
  float local_18;
  float local_14;
  float local_10;
  
  if (*(float *)(this + 0x50) <= 0.0) {
    return (longdouble)0.0;
  }
  uVar1 = *(uint *)(this + 0x2068);
  if (((uVar1 == 0xffffffff) ||
      (puVar3 = g_pEntityList + (uVar1 & 0xfff) * 0x10, puVar3 == (undefined *)0xfffffffc)) ||
     (*(uint *)(puVar3 + 8) != uVar1 >> 0xc)) {
    fVar5 = *(float *)(this + 0x54);
    iVar4 = 0;
  }
  else {
    iVar4 = *(int *)(puVar3 + 4);
    if (iVar4 != 0) {
      piVar2 = *(int **)(iVar4 + 0x238);
      if (piVar2 == (int *)0x0) {
        DevMsg("Object attached to Physcannon has no physics object\n");
        DetachEntity(this,false);
        fVar5 = 9999.0;
        goto LAB_004ecd8c;
      }
      (**(code **)(*piVar2 + 0x11c))(piVar2,&local_18,0);
      fVar5 = 0.0;
      fVar6 = *(float *)(this + 0x50);
      fVar7 = SQRT((*(float *)(this + 0x1c) - local_18) * (*(float *)(this + 0x1c) - local_18) +
                   (*(float *)(this + 0x20) - local_14) * (*(float *)(this + 0x20) - local_14) +
                   (*(float *)(this + 0x24) - local_10) * (*(float *)(this + 0x24) - local_10));
      if (0.0 < fVar6) {
        if (fVar6 <= 1.0) {
          fVar5 = 1.0 - fVar6;
        }
        else {
          *(undefined4 *)(this + 0x50) = 0x3f800000;
          fVar6 = 1.0;
        }
        if (*(float *)(this + 0x3c) <= fVar7 / fVar6 && fVar7 / fVar6 != *(float *)(this + 0x3c)) {
          fVar7 = fVar7 * 0.5;
        }
        fVar5 = fVar7 * fVar6 + fVar5 * *(float *)(this + 0x54);
        *(float *)(this + 0x54) = fVar5;
        goto LAB_004ecd7c;
      }
    }
    fVar5 = *(float *)(this + 0x54);
  }
LAB_004ecd7c:
  if ((*(byte *)(iVar4 + 0x14e) & 0x10) != 0) {
    fVar5 = fVar5 * 3.0;
    *(float *)(this + 0x54) = fVar5;
  }
  *(undefined4 *)(this + 0x50) = 0;
LAB_004ecd8c:
  return (longdouble)fVar5;
}