From a4c804b49ec872b71bd5a0167c3ad45704a3cc30 Mon Sep 17 00:00:00 2001
From: adiblol <adiblol@1tbps.org>
Date: Thu, 8 Mar 2012 19:32:05 +0100
Subject: Initial commit, Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA,
 www.epsitec.ch

---
 src/taskmanip.h | 88 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 88 insertions(+)
 create mode 100644 src/taskmanip.h

(limited to 'src/taskmanip.h')

diff --git a/src/taskmanip.h b/src/taskmanip.h
new file mode 100644
index 0000000..9067235
--- /dev/null
+++ b/src/taskmanip.h
@@ -0,0 +1,88 @@
+// taskmanip.h
+
+#ifndef _TASKMANIP_H_
+#define	_TASKMANIP_H_
+
+
+class CInstanceManager;
+class CTerrain;
+class CBrain;
+class CPhysics;
+class CObject;
+
+
+
+enum TaskManipOrder
+{
+	TMO_AUTO	= 0,	// prend ou dépose automatique
+	TMO_GRAB	= 1,	// prend un objet
+	TMO_DROP	= 2,	// dépose l'objet
+};
+
+enum TaskManipArm
+{
+	TMA_NEUTRAL	= 1,	// bras vide au repos
+	TMA_STOCK	= 2,	// bras plein au repos
+	TMA_FFRONT	= 3,	// bras au sol
+	TMA_FBACK	= 4,	// bras derrière le robot
+	TMA_POWER	= 5,	// bras derrière le robot
+	TMA_OTHER	= 6,	// bras derrière un robot amis
+	TMA_GRAB	= 7,	// prend immédiatement
+};
+
+enum TaskManipHand
+{
+	TMH_OPEN	= 1,	// pince ouverte
+	TMH_CLOSE	= 2,	// pince fermée
+};
+
+
+
+class CTaskManip : public CTask
+{
+public:
+	CTaskManip(CInstanceManager* iMan, CObject* object);
+	~CTaskManip();
+
+	BOOL		EventProcess(const Event &event);
+
+	Error		Start(TaskManipOrder order, TaskManipArm arm);
+	Error		IsEnded();
+	BOOL		Abort();
+
+protected:
+	void		InitAngle();
+	CObject*	SearchTakeUnderObject(D3DVECTOR &pos, float dLimit);
+	CObject*	SearchTakeFrontObject(BOOL bAdvance, D3DVECTOR &pos, float &distance, float &angle);
+	CObject*	SearchTakeBackObject(BOOL bAdvance, D3DVECTOR &pos, float &distance, float &angle);
+	CObject*	SearchOtherObject(BOOL bAdvance, D3DVECTOR &pos, float &distance, float &angle, float &height);
+	BOOL		TruckTakeObject();
+	BOOL		TruckDeposeObject();
+	BOOL		IsFreeDeposeObject(D3DVECTOR pos);
+	void		SoundManip(float time, float amplitude=1.0f, float frequency=1.0f);
+
+protected:
+	TaskManipOrder	m_order;
+	TaskManipArm	m_arm;
+	TaskManipHand	m_hand;
+	int				m_step;
+	float			m_speed;
+	float			m_progress;
+	float			m_initialAngle[5];
+	float			m_finalAngle[5];
+	float			m_height;
+	float			m_advanceLength;
+	float			m_energy;
+	BOOL			m_bError;
+	BOOL			m_bTurn;
+	BOOL			m_bSubm;
+	BOOL			m_bBee;
+	float			m_angle;
+	float			m_move;
+	D3DVECTOR		m_targetPos;
+	float			m_timeLimit;
+	ObjectType		m_fretType;
+};
+
+
+#endif //_TASKMANIP_H_
-- 
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