Whitespace and language change

- changed tabs to spaces and DOS line endings to Unix
  (except in CBot and metafile)
- changed language to English
- fixed #include <d3d.h> in d3dengine.h

1 files changed, 1383 insertions, 1383 deletions

diff --git a/src/object/task/taskmanip.cpp b/src/object/task/taskmanip.cpp
index 636031b..456f274 100644
--- a/src/object/task/taskmanip.cpp
+++ b/src/object/task/taskmanip.cpp
@@ -1,1383 +1,1383 @@
-// * This file is part of the COLOBOT source code

-// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch

-// *

-// * This program is free software: you can redistribute it and/or modify

-// * it under the terms of the GNU General Public License as published by

-// * the Free Software Foundation, either version 3 of the License, or

-// * (at your option) any later version.

-// *

-// * This program is distributed in the hope that it will be useful,

-// * but WITHOUT ANY WARRANTY; without even the implied warranty of

-// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

-// * GNU General Public License for more details.

-// *

-// * You should have received a copy of the GNU General Public License

-// * along with this program. If not, see  http://www.gnu.org/licenses/.

-

-// taskmanip.cpp

-

-

-#include <stdio.h>

-

-#include "object/task/taskmanip.h"

-

-#include "common/iman.h"

-#include "old/terrain.h"

-#include "old/pyro.h"

-#include "math/geometry.h"

-#include "object/robotmain.h"

-#include "physics/physics.h"

-

-

-//?const float MARGIN_FRONT		= 2.0f;

-//?const float MARGIN_BACK		= 2.0f;

-//?const float MARGIN_FRIEND	= 2.0f;

-//?const float MARGIN_BEE		= 5.0f;

-const float MARGIN_FRONT	= 4.0f;  //OK 1.9

-const float MARGIN_BACK		= 4.0f;  //OK 1.9

-const float MARGIN_FRIEND	= 4.0f;  //OK 1.9

-const float MARGIN_BEE		= 5.0f;  //OK 1.9

-

-

-

-

-// Object's constructor.

-

-CTaskManip::CTaskManip(CInstanceManager* iMan, CObject* object)

-					   : CTask(iMan, object)

-{

-	m_arm  = TMA_NEUTRAL;

-	m_hand = TMH_OPEN;

-}

-

-// Object's destructor.

-

-CTaskManip::~CTaskManip()

-{

-}

-

-

-// Management of an event.

-

-bool CTaskManip::EventProcess(const Event &event)

-{

-	Math::Vector	pos;

-	float		angle, a, g, cirSpeed, progress;

-	int			i;

-

-	if ( m_engine->RetPause() )  return true;

-	if ( event.event != EVENT_FRAME )  return true;

-	if ( m_bError )  return false;

-

-	if ( m_bBee )  // bee?

-	{

-		return true;

-	}

-

-	if ( m_bTurn )  // preliminary rotation?

-	{

-		a = m_object->RetAngleY(0);

-		g = m_angle;

-		cirSpeed = Math::Direction(a, g)*1.0f;

-		if ( m_physics->RetType() == TYPE_FLYING )  // flying on the ground?

-		{

-			cirSpeed *= 4.0f;  // more fishing

-		}

-		if ( cirSpeed >  1.0f )  cirSpeed =  1.0f;

-		if ( cirSpeed < -1.0f )  cirSpeed = -1.0f;

-

-		m_physics->SetMotorSpeedZ(cirSpeed);  // turns left / right

-		return true;

-	}

-

-	if ( m_move != 0 )  // preliminary advance?

-	{

-		m_timeLimit -= event.rTime;

-		m_physics->SetMotorSpeedX(m_move);  // forward/backward

-		return true;

-	}

-

-	m_progress += event.rTime*m_speed;  // others advance

-	progress = m_progress;

-	if ( progress > 1.0f )  progress = 1.0f;

-

-	if ( m_bSubm )  // submarine?

-	{

-		if ( m_order == TMO_GRAB )

-		{

-			if ( m_step == 0 )  // fall?

-			{

-				pos = m_object->RetPosition(1);

-				pos.y = 3.0f-progress*2.0f;

-				m_object->SetPosition(1, pos);

-			}

-			if ( m_step == 1 )  // farm?

-			{

-				pos = m_object->RetPosition(2);

-				pos.z = -1.5f+progress*0.5f;

-				m_object->SetPosition(2, pos);

-

-				pos = m_object->RetPosition(3);

-				pos.z = 1.5f-progress*0.5f;

-				m_object->SetPosition(3, pos);

-			}

-			if ( m_step == 2 )  // up?

-			{

-				pos = m_object->RetPosition(1);

-				pos.y = 3.0f-(1.0f-progress)*2.0f;

-				m_object->SetPosition(1, pos);

-			}

-		}

-		else

-		{

-			if ( m_step == 0 )  // fall?

-			{

-				pos = m_object->RetPosition(1);

-				pos.y = 3.0f-progress*2.0f;

-				m_object->SetPosition(1, pos);

-			}

-			if ( m_step == 1 )  // farm?

-			{

-				pos = m_object->RetPosition(2);

-				pos.z = -1.5f+(1.0f-progress)*0.5f;

-				m_object->SetPosition(2, pos);

-

-				pos = m_object->RetPosition(3);

-				pos.z = 1.5f-(1.0f-progress)*0.5f;

-				m_object->SetPosition(3, pos);

-			}

-			if ( m_step == 2 )  // up?

-			{

-				pos = m_object->RetPosition(1);

-				pos.y = 3.0f-(1.0f-progress)*2.0f;

-				m_object->SetPosition(1, pos);

-			}

-		}

-	}

-	else

-	{

-		for ( i=0 ; i<5 ; i++ )

-		{

-			angle = (m_finalAngle[i]-m_initialAngle[i])*progress;

-			angle += m_initialAngle[i];

-			m_object->SetAngleZ(i+1, angle);

-		}

-	}

-

-	return true;

-}

-

-

-// Initializes the initial and final angles.

-

-void CTaskManip::InitAngle()

-{

-	CObject*	power;

-	float		max, energy;

-	int			i;

-

-	if ( m_bSubm || m_bBee )  return;

-

-	if ( m_arm == TMA_NEUTRAL ||

-		 m_arm == TMA_GRAB    )

-	{

-		m_finalAngle[0] = ARM_NEUTRAL_ANGLE1;  // arm

-		m_finalAngle[1] = ARM_NEUTRAL_ANGLE2;  // forearm

-		m_finalAngle[2] = ARM_NEUTRAL_ANGLE3;  // hand

-	}

-	if ( m_arm == TMA_STOCK )

-	{

-		m_finalAngle[0] = ARM_STOCK_ANGLE1;  // arm

-		m_finalAngle[1] = ARM_STOCK_ANGLE2;  // forearm

-		m_finalAngle[2] = ARM_STOCK_ANGLE3;  // hand

-	}

-	if ( m_arm == TMA_FFRONT )

-	{

-		m_finalAngle[0] =   35.0f*Math::PI/180.0f;  // arm

-		m_finalAngle[1] =  -95.0f*Math::PI/180.0f;  // forearm

-		m_finalAngle[2] =  -27.0f*Math::PI/180.0f;  // hand

-	}

-	if ( m_arm == TMA_FBACK )

-	{

-		m_finalAngle[0] =  145.0f*Math::PI/180.0f;  // arm

-		m_finalAngle[1] =   95.0f*Math::PI/180.0f;  // forearm

-		m_finalAngle[2] =   27.0f*Math::PI/180.0f;  // hand

-	}

-	if ( m_arm == TMA_POWER )

-	{

-		m_finalAngle[0] =   95.0f*Math::PI/180.0f;  // arm

-		m_finalAngle[1] =  125.0f*Math::PI/180.0f;  // forearm

-		m_finalAngle[2] =   50.0f*Math::PI/180.0f;  // hand

-	}

-	if ( m_arm == TMA_OTHER )

-	{

-		if ( m_height <= 3.0f )

-		{

-			m_finalAngle[0] =  55.0f*Math::PI/180.0f;  // arm

-			m_finalAngle[1] = -90.0f*Math::PI/180.0f;  // forearm

-			m_finalAngle[2] = -35.0f*Math::PI/180.0f;  // hand

-		}

-		else

-		{

-			m_finalAngle[0] =  70.0f*Math::PI/180.0f;  // arm

-			m_finalAngle[1] = -90.0f*Math::PI/180.0f;  // forearm

-			m_finalAngle[2] = -50.0f*Math::PI/180.0f;  // hand

-		}

-	}

-

-	if ( m_hand == TMH_OPEN )  // open clamp?

-	{

-		m_finalAngle[3] = -Math::PI*0.10f;  // clamp close

-		m_finalAngle[4] =  Math::PI*0.10f;  // clamp remote

-	}

-	if ( m_hand == TMH_CLOSE )  // clamp closed?

-	{

-		m_finalAngle[3] =  Math::PI*0.05f;  // clamp close

-		m_finalAngle[4] = -Math::PI*0.05f;  // clamp remote

-	}

-

-	for ( i=0 ; i<5 ; i++ )

-	{

-		m_initialAngle[i] = m_object->RetAngleZ(i+1);

-	}

-

-	max = 0.0f;

-	for ( i=0 ; i<5 ; i++ )

-	{

-		max = Math::Max(max, fabs(m_initialAngle[i] - m_finalAngle[i]));

-	}

-	m_speed = (Math::PI*1.0f)/max;

-	if ( m_speed > 3.0f )  m_speed = 3.0f;  // piano, ma non troppo (?)

-

-	energy = 0.0f;

-	power = m_object->RetPower();

-	if ( power != 0 )

-	{

-		energy = power->RetEnergy();

-	}

-

-	if ( energy == 0.0f )

-	{

-		m_speed *= 0.7f;  // slower if more energy!

-	}

-}

-

-

-// Tests whether an object is compatible with the operation TMA_OTHER.

-

-bool TestFriend(ObjectType oType, ObjectType fType)

-{

-	if ( oType == OBJECT_ENERGY )

-	{

-		return ( fType == OBJECT_METAL );

-	}

-	if ( oType == OBJECT_LABO )

-	{

-		return ( fType == OBJECT_BULLET );

-	}

-	if ( oType == OBJECT_NUCLEAR )

-	{

-		return ( fType == OBJECT_URANIUM );

-	}

-

-	return ( fType == OBJECT_POWER  ||

-			 fType == OBJECT_ATOMIC );

-}

-

-// Assigns the goal was achieved.

-

-Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)

-{

-	ObjectType	type;

-	CObject		*front, *other, *power;

-	CPyro		*pyro;

-	float		iAngle, dist, len;

-	float		fDist, fAngle, oDist, oAngle, oHeight;

-	Math::Vector	pos, fPos, oPos;

-

-	m_arm      = arm;

-	m_height   = 0.0f;

-	m_step     = 0;

-	m_progress = 0.0f;

-	m_speed    = 1.0f/1.5f;

-

-	iAngle = m_object->RetAngleY(0);

-	iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI

-	oAngle = iAngle;

-

-	m_bError = true;  // operation impossible

-

-	if ( m_arm != TMA_FFRONT &&

-		 m_arm != TMA_FBACK  &&

-		 m_arm != TMA_POWER  &&

-		 m_arm != TMA_GRAB   )  return ERR_MANIP_VEH;

-

-	m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f));

-

-	type = m_object->RetType();

-	if ( type == OBJECT_BEE )  // bee?

-	{

-		if ( m_object->RetFret() == 0 )

-		{

-			if ( !m_physics->RetLand() )  return ERR_MANIP_FLY;

-

-			other = SearchTakeUnderObject(m_targetPos, MARGIN_BEE);

-			if ( other == 0 )  return ERR_MANIP_NIL;

-			m_object->SetFret(other);  // takes the ball

-			other->SetTruck(m_object);

-			other->SetTruckPart(0);  // taken with the base

-			other->SetPosition(0, Math::Vector(0.0f, -3.0f, 0.0f));

-		}

-		else

-		{

-			other = m_object->RetFret();  // other = ball

-			m_object->SetFret(0);  // lick the ball

-			other->SetTruck(0);

-			pos = m_object->RetPosition(0);

-			pos.y -= 3.0f;

-			other->SetPosition(0, pos);

-

-			pos = m_object->RetPosition(0);

-			pos.y += 2.0f;

-			m_object->SetPosition(0, pos);  // against the top of jump

-

-			pyro = new CPyro(m_iMan);

-			pyro->Create(PT_FALL, other);  // the ball falls

-		}

-

-		m_bBee = true;

-		m_bError = false;  // ok

-		return ERR_OK;

-	}

-	m_bBee = false;

-

-	m_bSubm = ( type == OBJECT_MOBILEsa );  // submarine?

-

-	if ( m_arm == TMA_GRAB )  // takes immediately?

-	{

-		TruckTakeObject();

-		Abort();

-		return ERR_OK;

-	}

-

-	m_energy = 0.0f;

-	power = m_object->RetPower();

-	if ( power != 0 )

-	{

-		m_energy = power->RetEnergy();

-	}

-

-	if ( !m_physics->RetLand() )  return ERR_MANIP_FLY;

-

-	if ( type != OBJECT_MOBILEfa &&

-		 type != OBJECT_MOBILEta &&

-		 type != OBJECT_MOBILEwa &&

-		 type != OBJECT_MOBILEia &&

-		 type != OBJECT_MOBILEsa )  return ERR_MANIP_VEH;

-

-	if ( m_bSubm )  // submarine?

-	{

-		m_arm = TMA_FFRONT;  // only possible in front!

-	}

-

-	m_move = 0.0f;  // advance not necessary

-	m_angle = iAngle;

-

-	if ( order == TMO_AUTO )

-	{

-		if ( m_object->RetFret() == 0 )

-		{

-			m_order = TMO_GRAB;

-		}

-		else

-		{

-			m_order = TMO_DROP;

-		}

-	}

-	else

-	{

-		m_order = order;

-	}

-

-	if ( m_order == TMO_GRAB && m_object->RetFret() != 0 )

-	{

-		return ERR_MANIP_BUSY;

-	}

-	if ( m_order == TMO_DROP && m_object->RetFret() == 0 )

-	{

-		return ERR_MANIP_EMPTY;

-	}

-

-//?	speed = m_physics->RetMotorSpeed();

-//?	if ( speed.x != 0.0f ||

-//?		 speed.z != 0.0f )  return ERR_MANIP_MOTOR;

-

-	if ( m_order == TMO_GRAB )

-	{

-		if ( m_arm == TMA_FFRONT )

-		{

-			front = SearchTakeFrontObject(true, fPos, fDist, fAngle);

-			other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight);

-

-			if ( front != 0 && fDist < oDist )

-			{

-				m_targetPos = fPos;

-				m_angle = fAngle;

-				m_move = 1.0f;  // advance required

-			}

-			else if ( other != 0 && oDist < fDist )

-			{

-				if ( other->RetPower() == 0 )  return ERR_MANIP_NIL;

-				m_targetPos = oPos;

-				m_angle = oAngle;

-				m_height = oHeight;

-				m_move = 1.0f;  // advance required

-				m_arm = TMA_OTHER;

-			}

-			else

-			{

-				return ERR_MANIP_NIL;

-			}

-			m_main->HideDropZone(front);  // hides buildable area

-		}

-		if ( m_arm == TMA_FBACK )

-		{

-			if ( SearchTakeBackObject(true, m_targetPos, fDist, m_angle) == 0 )

-			{

-				return ERR_MANIP_NIL;

-			}

-			m_angle += Math::PI;

-			m_move = -1.0f;  // back necessary

-		}

-		if ( m_arm == TMA_POWER )

-		{

-			if ( m_object->RetPower() == 0 )  return ERR_MANIP_NIL;

-		}

-	}

-

-	if ( m_order == TMO_DROP )

-	{

-		if ( m_arm == TMA_FFRONT )

-		{

-			other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight);

-			if ( other != 0 && other->RetPower() == 0 )

-			{

-				m_targetPos = oPos;

-				m_angle = oAngle;

-				m_height = oHeight;

-				m_move = 1.0f;  // advance required

-				m_arm = TMA_OTHER;

-			}

-			else

-			{

-				if ( !IsFreeDeposeObject(Math::Vector(TAKE_DIST, 0.0f, 0.0f)) )  return ERR_MANIP_OCC;

-			}

-		}

-		if ( m_arm == TMA_FBACK )

-		{

-			if ( !IsFreeDeposeObject(Math::Vector(-TAKE_DIST, 0.0f, 0.0f)) )  return ERR_MANIP_OCC;

-		}

-		if ( m_arm == TMA_POWER )

-		{

-			if ( m_object->RetPower() != 0 )  return ERR_MANIP_OCC;

-		}

-	}

-

-	dist = Math::Distance(m_object->RetPosition(0), m_targetPos);

-	len = dist-TAKE_DIST;

-	if ( m_arm == TMA_OTHER ) len -= TAKE_DIST_OTHER;

-	if ( len < 0.0f )  len = 0.0f;

-	if ( m_arm == TMA_FBACK ) len = -len;

-	m_advanceLength = dist-m_physics->RetLinLength(len);

-	if ( dist <= m_advanceLength+0.2f )  m_move = 0.0f;  // not necessary to advance

-

-	if ( m_energy == 0.0f )  m_move = 0.0f;

-

-	if ( m_move != 0.0f )  // forward or backward?

-	{

-		m_timeLimit = m_physics->RetLinTimeLength(fabs(len))*1.5f;

-		if ( m_timeLimit < 0.5f )  m_timeLimit = 0.5f;

-	}

-

-	if ( m_object->RetFret() == 0 )  // not carrying anything?

-	{

-		m_hand = TMH_OPEN;  // open clamp

-	}

-	else

-	{

-		m_hand = TMH_CLOSE;  // closed clamp

-	}

-

-	InitAngle();

-

-	if ( iAngle == m_angle || m_energy == 0.0f )

-	{

-		m_bTurn = false;  // preliminary rotation unnecessary

-		SoundManip(1.0f/m_speed);

-	}

-	else

-	{

-		m_bTurn = true;  // preliminary rotation necessary

-	}

-

-	if ( m_bSubm )

-	{

-		m_camera->StartCentering(m_object, Math::PI*0.8f, 99.9f, 0.0f, 0.5f);

-	}

-

-	m_physics->SetFreeze(true);  // it does not move

-

-	m_bError = false;  // ok

-	return ERR_OK;

-}

-

-// Indicates whether the action is complete.

-

-Error CTaskManip::IsEnded()

-{

-	CObject*	fret;

-	Math::Vector	pos;

-	float		angle, dist;

-	int			i;

-

-	if ( m_engine->RetPause() )  return ERR_CONTINUE;

-	if ( m_bError )  return ERR_STOP;

-

-	if ( m_bBee )  // bee?

-	{

-		return ERR_STOP;

-	}

-

-	if ( m_bTurn )  // preliminary rotation?

-	{

-		angle = m_object->RetAngleY(0);

-		angle = Math::NormAngle(angle);  // 0..2*Math::PI

-

-		if ( Math::TestAngle(angle, m_angle-Math::PI*0.01f, m_angle+Math::PI*0.01f) )

-		{

-			m_bTurn = false;  // rotation ended

-			m_physics->SetMotorSpeedZ(0.0f);

-			if ( m_move == 0.0f )

-			{

-				SoundManip(1.0f/m_speed);

-			}

-		}

-		return ERR_CONTINUE;

-	}

-

-	if ( m_move != 0.0f )  // preliminary advance?

-	{

-		if ( m_timeLimit <= 0.0f )

-		{

-//OK 1.9

-			dist = Math::Distance(m_object->RetPosition(0), m_targetPos);

-			if ( dist <= m_advanceLength + 2.0f )

-			{

-				m_move = 0.0f;  // advance ended

-				m_physics->SetMotorSpeedX(0.0f);

-				SoundManip(1.0f/m_speed);

-				return ERR_CONTINUE;

-			}

-			else

-			{

-//EOK 1.9

-				m_move = 0.0f;  // advance ended

-				m_physics->SetMotorSpeedX(0.0f);  // stops

-				Abort();

-				return ERR_STOP;

-			}

-		}

-

-		dist = Math::Distance(m_object->RetPosition(0), m_targetPos);

-		if ( dist <= m_advanceLength )

-		{

-			m_move = 0.0f;  // advance ended

-			m_physics->SetMotorSpeedX(0.0f);

-			SoundManip(1.0f/m_speed);

-		}

-		return ERR_CONTINUE;

-	}

-

-	if ( m_progress < 1.0f )  return ERR_CONTINUE;

-	m_progress = 0.0f;

-

-	if ( !m_bSubm )

-	{

-		for ( i=0 ; i<5 ; i++ )

-		{

-			m_object->SetAngleZ(i+1, m_finalAngle[i]);

-		}

-	}

-	m_step ++;

-

-	if ( m_order == TMO_GRAB )

-	{

-		if ( m_step == 1 )

-		{

-			if ( m_bSubm )  m_speed = 1.0f/0.7f;

-			m_hand = TMH_CLOSE;  // closes the clamp to take

-			InitAngle();

-			SoundManip(1.0f/m_speed, 0.8f, 1.5f);

-			return ERR_CONTINUE;

-		}

-		if ( m_step == 2 )

-		{

-			if ( m_bSubm )  m_speed = 1.0f/1.5f;

-			if ( !TruckTakeObject() &&

-				 m_object->RetFret() == 0 )

-			{

-				m_hand = TMH_OPEN;  // reopens the clamp

-				m_arm = TMA_NEUTRAL;

-				InitAngle();

-				SoundManip(1.0f/m_speed, 0.8f, 1.5f);

-			}

-			else

-			{

-				if ( (m_arm == TMA_OTHER ||

-					  m_arm == TMA_POWER ) &&

-					 (m_fretType == OBJECT_POWER  ||

-					  m_fretType == OBJECT_ATOMIC ) )

-				{

-					m_sound->Play(SOUND_POWEROFF, m_object->RetPosition(0));

-				}

-				m_arm = TMA_STOCK;

-				InitAngle();

-				SoundManip(1.0f/m_speed);

-			}

-			return ERR_CONTINUE;

-		}

-	}

-

-	if ( m_order == TMO_DROP )

-	{

-		if ( m_step == 1 )

-		{

-			if ( m_bSubm )  m_speed = 1.0f/0.7f;

-			fret = m_object->RetFret();

-			if ( TruckDeposeObject() )

-			{

-				if ( (m_arm == TMA_OTHER ||

-					  m_arm == TMA_POWER ) &&

-					 (m_fretType == OBJECT_POWER  ||

-					  m_fretType == OBJECT_ATOMIC ) )

-				{

-					m_sound->Play(SOUND_POWERON, m_object->RetPosition(0));

-				}

-				if ( fret != 0 && m_fretType == OBJECT_METAL && m_arm == TMA_FFRONT )

-				{

-					m_main->ShowDropZone(fret, m_object);  // shows buildable area

-				}

-				m_hand = TMH_OPEN;  // opens the clamp to deposit

-				SoundManip(1.0f/m_speed, 0.8f, 1.5f);

-			}

-			InitAngle();

-			return ERR_CONTINUE;

-		}

-		if ( m_step == 2 )

-		{

-			if ( m_bSubm )  m_speed = 1.0f/1.5f;

-			m_arm = TMA_NEUTRAL;

-			InitAngle();

-			SoundManip(1.0f/m_speed);

-			return ERR_CONTINUE;

-		}

-	}

-

-	Abort();

-	return ERR_STOP;

-}

-

-// Suddenly ends the current action.

-

-bool CTaskManip::Abort()

-{

-	int		i;

-

-	if ( m_object->RetFret() == 0 )  // not carrying anything?

-	{

-		m_hand = TMH_OPEN;  // open clamp

-		m_arm = TMA_NEUTRAL;

-	}

-	else

-	{

-		m_hand = TMH_CLOSE;  // closed clamp

-		m_arm = TMA_STOCK;

-	}

-	InitAngle();

-

-	if ( !m_bSubm )

-	{

-		for ( i=0 ; i<5 ; i++ )

-		{

-			m_object->SetAngleZ(i+1, m_finalAngle[i]);

-		}

-	}

-

-	m_camera->StopCentering(m_object, 2.0f);

-	m_physics->SetFreeze(false);  // is moving again

-	return true;

-}

-

-

-// Seeks the object below to take (for bees).

-

-CObject* CTaskManip::SearchTakeUnderObject(Math::Vector &pos, float dLimit)

-{

-	CObject		*pObj, *pBest;

-	Math::Vector	iPos, oPos;

-	ObjectType	type;

-	float		min, distance;

-	int			i;

-

-	iPos   = m_object->RetPosition(0);

-

-	min = 1000000.0f;

-	pBest = 0;

-	for ( i=0 ; i<1000000 ; i++ )

-	{

-		pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);

-		if ( pObj == 0 )  break;

-

-		type = pObj->RetType();

-

-		if ( type != OBJECT_FRET    &&

-			 type != OBJECT_STONE   &&

-			 type != OBJECT_URANIUM &&

-			 type != OBJECT_BULLET  &&

-			 type != OBJECT_METAL   &&

-			 type != OBJECT_POWER   &&

-			 type != OBJECT_ATOMIC  &&

-			 type != OBJECT_BBOX    &&

-			 type != OBJECT_KEYa    &&

-			 type != OBJECT_KEYb    &&

-			 type != OBJECT_KEYc    &&

-			 type != OBJECT_KEYd    &&

-			 type != OBJECT_TNT     )  continue;

-

-		if ( pObj->RetTruck() != 0 )  continue;  // object transported?

-		if ( pObj->RetLock() )  continue;

-		if ( pObj->RetZoomY(0) != 1.0f )  continue;

-

-		oPos = pObj->RetPosition(0);

-		distance = Math::Distance(oPos, iPos);

-		if ( distance <= dLimit &&

-			 distance < min     )

-		{

-			min = distance;

-			pBest = pObj;

-		}

-	}

-	if ( pBest != 0 )

-	{

-		pos = pBest->RetPosition(0);

-	}

-	return pBest;

-}

-

-// Seeks the object in front to take.

-

-CObject* CTaskManip::SearchTakeFrontObject(bool bAdvance, Math::Vector &pos,

-										   float &distance, float &angle)

-{

-	CObject		*pObj, *pBest;

-	Math::Vector	iPos, oPos;

-	ObjectType	type;

-	float		min, iAngle, bAngle, aLimit, dLimit, f;

-	int			i;

-

-	iPos   = m_object->RetPosition(0);

-	iAngle = m_object->RetAngleY(0);

-	iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI

-

-	if ( bAdvance && m_energy > 0.0f )

-	{

-		aLimit = 60.0f*Math::PI/180.0f;

-		dLimit = MARGIN_FRONT+10.0f;

-	}

-	else

-	{

-//?		aLimit = 7.0f*Math::PI/180.0f;

-		aLimit = 15.0f*Math::PI/180.0f;  //OK 1.9

-		dLimit = MARGIN_FRONT;

-	}

-

-	min = 1000000.0f;

-	pBest = 0;

-	bAngle = 0.0f;

-	for ( i=0 ; i<1000000 ; i++ )

-	{

-		pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);

-		if ( pObj == 0 )  break;

-

-		type = pObj->RetType();

-

-		if ( type != OBJECT_FRET    &&

-			 type != OBJECT_STONE   &&

-			 type != OBJECT_URANIUM &&

-			 type != OBJECT_BULLET  &&

-			 type != OBJECT_METAL   &&

-			 type != OBJECT_POWER   &&

-			 type != OBJECT_ATOMIC  &&

-			 type != OBJECT_BBOX    &&

-			 type != OBJECT_KEYa    &&

-			 type != OBJECT_KEYb    &&

-			 type != OBJECT_KEYc    &&

-			 type != OBJECT_KEYd    &&

-			 type != OBJECT_TNT     &&

-			 type != OBJECT_SCRAP1  &&

-			 type != OBJECT_SCRAP2  &&

-			 type != OBJECT_SCRAP3  &&

-			 type != OBJECT_SCRAP4  &&

-			 type != OBJECT_SCRAP5  )  continue;

-

-		if ( pObj->RetTruck() != 0 )  continue;  // object transported?

-		if ( pObj->RetLock() )  continue;

-		if ( pObj->RetZoomY(0) != 1.0f )  continue;

-

-		oPos = pObj->RetPosition(0);

-		distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);

-		f = 1.0f-distance/50.0f;

-		if ( f < 0.5f )  f = 0.5f;

-

-		angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z);  // CW !

-		if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) )  continue;

-

-		if ( distance < -dLimit ||

-			 distance >  dLimit )  continue;

-

-		if ( distance < min )

-		{

-			min = distance;

-			pBest = pObj;

-			bAngle = angle;

-		}

-	}

-	if ( pBest == 0 )

-	{

-		distance = 1000000.0f;

-		angle = 0.0f;

-	}

-	else

-	{

-		pos = pBest->RetPosition(0);

-		distance = min;

-		angle = bAngle;

-	}

-	return pBest;

-}

-

-// Seeks the object back to take.

-

-CObject* CTaskManip::SearchTakeBackObject(bool bAdvance, Math::Vector &pos,

-										  float &distance, float &angle)

-{

-	CObject		*pObj, *pBest;

-	Math::Vector	iPos, oPos;

-	ObjectType	type;

-	float		min, iAngle, bAngle, aLimit, dLimit, f;

-	int			i;

-

-	iPos   = m_object->RetPosition(0);

-	iAngle = m_object->RetAngleY(0)+Math::PI;

-	iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI

-

-	if ( bAdvance && m_energy > 0.0f )

-	{

-		aLimit = 60.0f*Math::PI/180.0f;

-		dLimit = MARGIN_BACK+5.0f;

-	}

-	else

-	{

-		aLimit = 7.0f*Math::PI/180.0f;

-		dLimit = MARGIN_BACK;

-	}

-

-	min = 1000000.0f;

-	pBest = 0;

-	bAngle = 0.0f;

-	for ( i=0 ; i<1000000 ; i++ )

-	{

-		pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);

-		if ( pObj == 0 )  break;

-

-		type = pObj->RetType();

-

-		if ( type != OBJECT_FRET    &&

-			 type != OBJECT_STONE   &&

-			 type != OBJECT_URANIUM &&

-			 type != OBJECT_BULLET  &&

-			 type != OBJECT_METAL   &&

-			 type != OBJECT_POWER   &&

-			 type != OBJECT_ATOMIC  &&

-			 type != OBJECT_BBOX    &&

-			 type != OBJECT_KEYa    &&

-			 type != OBJECT_KEYb    &&

-			 type != OBJECT_KEYc    &&

-			 type != OBJECT_KEYd    &&

-			 type != OBJECT_TNT     &&

-			 type != OBJECT_SCRAP1  &&

-			 type != OBJECT_SCRAP2  &&

-			 type != OBJECT_SCRAP3  &&

-			 type != OBJECT_SCRAP4  &&

-			 type != OBJECT_SCRAP5  )  continue;

-

-		if ( pObj->RetTruck() != 0 )  continue;  // object transported?

-		if ( pObj->RetLock() )  continue;

-		if ( pObj->RetZoomY(0) != 1.0f )  continue;

-

-		oPos = pObj->RetPosition(0);

-		distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);

-		f = 1.0f-distance/50.0f;

-		if ( f < 0.5f )  f = 0.5f;

-

-		angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z);  // CW !

-		if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) )  continue;

-

-		if ( distance < -dLimit ||

-			 distance >  dLimit )  continue;

-

-		if ( distance < min )

-		{

-			min = distance;

-			pBest = pObj;

-			bAngle = angle;

-		}

-	}

-	if ( pBest == 0 )

-	{

-		distance = 1000000.0f;

-		angle = 0.0f;

-	}

-	else

-	{

-		pos = pBest->RetPosition(0);

-		distance = min;

-		angle = bAngle;

-	}

-	return pBest;

-}

-

-// Seeks the robot or building on which it wants to put a battery or or other object.

-

-CObject* CTaskManip::SearchOtherObject(bool bAdvance, Math::Vector &pos,

-									   float &distance, float &angle,

-									   float &height)

-{

-	Character*	character;

-	CObject*	pObj;

-	CObject*	pPower;

-	Math::Matrix*	mat;

-	Math::Vector	iPos, oPos;

-	ObjectType	type, powerType;

-	float		iAngle, iRad, oAngle, oLimit, aLimit, dLimit;

-	int			i;

-

-	distance = 1000000.0f;

-	angle = 0.0f;

-

-	if ( m_bSubm )  return 0;  // impossible with the submarine

-

-	if ( !m_object->GetCrashSphere(0, iPos, iRad) )  return 0;

-	iAngle = m_object->RetAngleY(0);

-	iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI

-

-	if ( bAdvance && m_energy > 0.0f )

-	{

-		aLimit = 60.0f*Math::PI/180.0f;

-		dLimit = MARGIN_FRIEND+10.0f;

-	}

-	else

-	{

-		aLimit = 7.0f*Math::PI/180.0f;

-		dLimit = MARGIN_FRIEND;

-	}

-

-	for ( i=0 ; i<1000000 ; i++ )

-	{

-		pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);

-		if ( pObj == 0 )  break;

-

-		if ( pObj == m_object )  continue;  // yourself?

-

-		type = pObj->RetType();

-		if ( type != OBJECT_MOBILEfa &&

-			 type != OBJECT_MOBILEta &&

-			 type != OBJECT_MOBILEwa &&

-			 type != OBJECT_MOBILEia &&

-			 type != OBJECT_MOBILEfc &&

-			 type != OBJECT_MOBILEtc &&

-			 type != OBJECT_MOBILEwc &&

-			 type != OBJECT_MOBILEic &&

-			 type != OBJECT_MOBILEfi &&

-			 type != OBJECT_MOBILEti &&

-			 type != OBJECT_MOBILEwi &&

-			 type != OBJECT_MOBILEii &&

-			 type != OBJECT_MOBILEfs &&

-			 type != OBJECT_MOBILEts &&

-			 type != OBJECT_MOBILEws &&

-			 type != OBJECT_MOBILEis &&

-			 type != OBJECT_MOBILErt &&

-			 type != OBJECT_MOBILErc &&

-			 type != OBJECT_MOBILErr &&

-			 type != OBJECT_MOBILErs &&

-			 type != OBJECT_MOBILEsa &&

-			 type != OBJECT_MOBILEtg &&

-			 type != OBJECT_MOBILEft &&

-			 type != OBJECT_MOBILEtt &&

-			 type != OBJECT_MOBILEwt &&

-			 type != OBJECT_MOBILEit &&

-			 type != OBJECT_TOWER    &&

-			 type != OBJECT_RESEARCH &&

-			 type != OBJECT_ENERGY   &&

-			 type != OBJECT_LABO     &&

-			 type != OBJECT_NUCLEAR  )  continue;

-

-		pPower = pObj->RetPower();

-		if ( pPower != 0 )

-		{

-			if ( pPower->RetLock() )  continue;

-			if ( pPower->RetZoomY(0) != 1.0f )  continue;

-

-			powerType = pPower->RetType();

-			if ( powerType == OBJECT_NULL ||

-				 powerType == OBJECT_FIX  )  continue;

-		}

-

-		mat = pObj->RetWorldMatrix(0);

-		character = pObj->RetCharacter();

-		oPos = Transform(*mat, character->posPower);

-

-		oAngle = pObj->RetAngleY(0);

-		if ( type == OBJECT_TOWER    ||

-			 type == OBJECT_RESEARCH )

-		{

-			oLimit = 45.0f*Math::PI/180.0f;

-		}

-		else if ( type == OBJECT_ENERGY )

-		{

-			oLimit = 90.0f*Math::PI/180.0f;

-		}

-		else if ( type == OBJECT_LABO )

-		{

-			oLimit = 120.0f*Math::PI/180.0f;

-		}

-		else if ( type == OBJECT_NUCLEAR )

-		{

-			oLimit = 45.0f*Math::PI/180.0f;

-		}

-		else

-		{

-			oLimit = 45.0f*Math::PI/180.0f;

-			oAngle += Math::PI;  // is behind

-		}

-		oAngle = Math::NormAngle(oAngle);  // 0..2*Math::PI

-		angle = Math::RotateAngle(iPos.x-oPos.x, oPos.z-iPos.z);  // CW !

-		if ( !Math::TestAngle(angle, oAngle-oLimit, oAngle+oLimit) )  continue;

-

-		distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);

-		if ( distance <= dLimit )

-		{

-			angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z);  // CW !

-			if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )

-			{

-				character = pObj->RetCharacter();

-				height = character->posPower.y;

-				pos = oPos;

-				return pObj;

-			}

-		}

-	}

-

-	distance = 1000000.0f;

-	angle = 0.0f;

-	return 0;

-}

-

-// Takes the object placed in front.

-

-bool CTaskManip::TruckTakeObject()

-{

-	CObject*	fret;

-	CObject*	other;

-	Math::Matrix	matRotate;

-	Math::Vector	pos;

-	float		angle, dist;

-

-	if ( m_arm == TMA_GRAB )  // takes immediately?

-	{

-		fret = m_object->RetFret();

-		if ( fret == 0 )  return false;  // nothing to take?

-		m_fretType = fret->RetType();

-

-		if ( m_object->RetType() == OBJECT_HUMAN ||

-			 m_object->RetType() == OBJECT_TECH  )

-		{

-			fret->SetTruck(m_object);

-			fret->SetTruckPart(4);  // takes with the hand

-

-			fret->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));

-			fret->SetAngleY(0, 0.1f);

-			fret->SetAngleX(0, 0.0f);

-			fret->SetAngleZ(0, 0.8f);

-		}

-		else if ( m_bSubm )

-		{

-			fret->SetTruck(m_object);

-			fret->SetTruckPart(2);  // takes with the right claw

-

-			pos = Math::Vector(1.1f, -1.0f, 1.0f);  // relative

-			fret->SetPosition(0, pos);

-			fret->SetAngleX(0, 0.0f);

-			fret->SetAngleY(0, 0.0f);

-			fret->SetAngleZ(0, 0.0f);

-		}

-		else

-		{

-			fret->SetTruck(m_object);

-			fret->SetTruckPart(3);  // takes with the hand

-

-			pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)

-			fret->SetPosition(0, pos);

-			fret->SetAngleX(0, 0.0f);

-			fret->SetAngleZ(0, Math::PI/2.0f);

-			fret->SetAngleY(0, 0.0f);

-		}

-

-		m_object->SetFret(fret);  // takes

-	}

-

-	if ( m_arm == TMA_FFRONT )  // takes on the ground in front?

-	{

-		fret = SearchTakeFrontObject(false, pos, dist, angle);

-		if ( fret == 0 )  return false;  // nothing to take?

-		m_fretType = fret->RetType();

-

-		if ( m_bSubm )

-		{

-			fret->SetTruck(m_object);

-			fret->SetTruckPart(2);  // takes with the right claw

-

-			pos = Math::Vector(1.1f, -1.0f, 1.0f);  // relative

-			fret->SetPosition(0, pos);

-			fret->SetAngleX(0, 0.0f);

-			fret->SetAngleY(0, 0.0f);

-			fret->SetAngleZ(0, 0.0f);

-		}

-		else

-		{

-			fret->SetTruck(m_object);

-			fret->SetTruckPart(3);  // takes with the hand

-

-			pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)

-			fret->SetPosition(0, pos);

-			fret->SetAngleX(0, 0.0f);

-			fret->SetAngleZ(0, Math::PI/2.0f);

-			fret->SetAngleY(0, 0.0f);

-		}

-

-		m_object->SetFret(fret);  // takes

-	}

-

-	if ( m_arm == TMA_FBACK )  // takes on the ground behind?

-	{

-		fret = SearchTakeBackObject(false, pos, dist, angle);

-		if ( fret == 0 )  return false;  // nothing to take?

-		m_fretType = fret->RetType();

-

-		fret->SetTruck(m_object);

-		fret->SetTruckPart(3);  // takes with the hand

-

-		pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)

-		fret->SetPosition(0, pos);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, Math::PI/2.0f);

-		fret->SetAngleY(0, 0.0f);

-

-		m_object->SetFret(fret);  // takes

-	}

-

-	if ( m_arm == TMA_POWER )  // takes battery in the back?

-	{

-		fret = m_object->RetPower();

-		if ( fret == 0 )  return false;  // no battery?

-		m_fretType = fret->RetType();

-

-		pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)

-		fret->SetPosition(0, pos);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, Math::PI/2.0f);

-		fret->SetAngleY(0, 0.0f);

-		fret->SetTruckPart(3);  // takes with the hand

-

-		m_object->SetPower(0);

-		m_object->SetFret(fret);  // takes

-	}

-

-	if ( m_arm == TMA_OTHER )  // battery takes from friend?

-	{

-		other = SearchOtherObject(false, pos, dist, angle, m_height);

-		if ( other == 0 )  return false;

-

-		fret = other->RetPower();

-		if ( fret == 0 )  return false;  // the other does not have a battery?

-		m_fretType = fret->RetType();

-

-		other->SetPower(0);

-		fret->SetTruck(m_object);

-		fret->SetTruckPart(3);  // takes with the hand

-

-		pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)

-		fret->SetPosition(0, pos);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, Math::PI/2.0f);

-		fret->SetAngleY(0, 0.0f);

-

-		m_object->SetFret(fret);  // takes

-	}

-

-	return true;

-}

-

-// Deposes the object taken.

-

-bool CTaskManip::TruckDeposeObject()

-{

-	Character*	character;

-	CObject*	fret;

-	CObject*	other;

-	Math::Matrix*	mat;

-	Math::Vector	pos;

-	float		angle, dist;

-

-	if ( m_arm == TMA_FFRONT )  // deposits on the ground in front?

-	{

-		fret = m_object->RetFret();

-		if ( fret == 0 )  return false;  // nothing transported?

-		m_fretType = fret->RetType();

-

-		mat = fret->RetWorldMatrix(0);

-		pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f));

-		m_terrain->MoveOnFloor(pos);

-		fret->SetPosition(0, pos);

-		fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, 0.0f);

-		fret->FloorAdjust();  // plate well on the ground

-

-		fret->SetTruck(0);

-		m_object->SetFret(0);  // deposit

-	}

-

-	if ( m_arm == TMA_FBACK )  // deposited on the ground behind?

-	{

-		fret = m_object->RetFret();

-		if ( fret == 0 )  return false;  // nothing transported?

-		m_fretType = fret->RetType();

-

-		mat = fret->RetWorldMatrix(0);

-		pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f));

-		m_terrain->MoveOnFloor(pos);

-		fret->SetPosition(0, pos);

-		fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, 0.0f);

-

-		fret->SetTruck(0);

-		m_object->SetFret(0);  // deposit

-	}

-

-	if ( m_arm == TMA_POWER )  // deposits battery in the back?

-	{

-		fret = m_object->RetFret();

-		if ( fret == 0 )  return false;  // nothing transported?

-		m_fretType = fret->RetType();

-

-		if ( m_object->RetPower() != 0 )  return false;

-

-		fret->SetTruck(m_object);

-		fret->SetTruckPart(0);  // carried by the base

-

-		character = m_object->RetCharacter();

-		fret->SetPosition(0, character->posPower);

-		fret->SetAngleY(0, 0.0f);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, 0.0f);

-

-		m_object->SetPower(fret);  // uses

-		m_object->SetFret(0);

-	}

-

-	if ( m_arm == TMA_OTHER )  // deposits battery on friend?

-	{

-		other = SearchOtherObject(false, pos, dist, angle, m_height);

-		if ( other == 0 )  return false;

-

-		fret = other->RetPower();

-		if ( fret != 0 )  return false;  // the other already has a battery?

-

-		fret = m_object->RetFret();

-		if ( fret == 0 )  return false;

-		m_fretType = fret->RetType();

-

-		other->SetPower(fret);

-		fret->SetTruck(other);

-

-		character = other->RetCharacter();

-		fret->SetPosition(0, character->posPower);

-		fret->SetAngleY(0, 0.0f);

-		fret->SetAngleX(0, 0.0f);

-		fret->SetAngleZ(0, 0.0f);

-		fret->SetTruckPart(0);  // carried by the base

-

-		m_object->SetFret(0);  // deposit

-	}

-

-	return true;

-}

-

-// Seeks if a location allows to deposit an object.

-

-bool CTaskManip::IsFreeDeposeObject(Math::Vector pos)

-{

-	CObject*	pObj;

-	Math::Matrix*	mat;

-	Math::Vector	iPos, oPos;

-	float		oRadius;

-	int			i, j;

-

-	mat = m_object->RetWorldMatrix(0);

-	iPos = Transform(*mat, pos);

-

-	for ( i=0 ; i<1000000 ; i++ )

-	{

-		pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);

-		if ( pObj == 0 )  break;

-

-		if ( pObj == m_object )  continue;

-		if ( !pObj->RetActif() )  continue;  // inactive?

-		if ( pObj->RetTruck() != 0 )  continue;  // object transported?

-

-		j = 0;

-		while ( pObj->GetCrashSphere(j++, oPos, oRadius) )

-		{

-			if ( Math::Distance(iPos, oPos)-(oRadius+1.0f) < 2.0f )

-			{

-				return false;  // location occupied

-			}

-		}

-	}

-	return true;  // location free

-}

-

-// Plays the sound of the manipulator arm.

-

-void CTaskManip::SoundManip(float time, float amplitude, float frequency)

-{

-	int		i;

-

-	i = m_sound->Play(SOUND_MANIP, m_object->RetPosition(0), 0.0f, 0.3f*frequency, true);

-	m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, 0.1f, SOPER_CONTINUE);

-	m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, time-0.1f, SOPER_CONTINUE);

-	m_sound->AddEnvelope(i, 0.0f, 0.3f*frequency, 0.1f, SOPER_STOP);

-}

-

+// * This file is part of the COLOBOT source code
+// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch
+// *
+// * This program is free software: you can redistribute it and/or modify
+// * it under the terms of the GNU General Public License as published by
+// * the Free Software Foundation, either version 3 of the License, or
+// * (at your option) any later version.
+// *
+// * This program is distributed in the hope that it will be useful,
+// * but WITHOUT ANY WARRANTY; without even the implied warranty of
+// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// * GNU General Public License for more details.
+// *
+// * You should have received a copy of the GNU General Public License
+// * along with this program. If not, see  http://www.gnu.org/licenses/.
+
+// taskmanip.cpp
+
+
+#include <stdio.h>
+
+#include "object/task/taskmanip.h"
+
+#include "common/iman.h"
+#include "old/terrain.h"
+#include "old/pyro.h"
+#include "math/geometry.h"
+#include "object/robotmain.h"
+#include "physics/physics.h"
+
+
+//?const float MARGIN_FRONT     = 2.0f;
+//?const float MARGIN_BACK      = 2.0f;
+//?const float MARGIN_FRIEND    = 2.0f;
+//?const float MARGIN_BEE       = 5.0f;
+const float MARGIN_FRONT    = 4.0f;  //OK 1.9
+const float MARGIN_BACK     = 4.0f;  //OK 1.9
+const float MARGIN_FRIEND   = 4.0f;  //OK 1.9
+const float MARGIN_BEE      = 5.0f;  //OK 1.9
+
+
+
+
+// Object's constructor.
+
+CTaskManip::CTaskManip(CInstanceManager* iMan, CObject* object)
+                       : CTask(iMan, object)
+{
+    m_arm  = TMA_NEUTRAL;
+    m_hand = TMH_OPEN;
+}
+
+// Object's destructor.
+
+CTaskManip::~CTaskManip()
+{
+}
+
+
+// Management of an event.
+
+bool CTaskManip::EventProcess(const Event &event)
+{
+    Math::Vector    pos;
+    float       angle, a, g, cirSpeed, progress;
+    int         i;
+
+    if ( m_engine->RetPause() )  return true;
+    if ( event.event != EVENT_FRAME )  return true;
+    if ( m_bError )  return false;
+
+    if ( m_bBee )  // bee?
+    {
+        return true;
+    }
+
+    if ( m_bTurn )  // preliminary rotation?
+    {
+        a = m_object->RetAngleY(0);
+        g = m_angle;
+        cirSpeed = Math::Direction(a, g)*1.0f;
+        if ( m_physics->RetType() == TYPE_FLYING )  // flying on the ground?
+        {
+            cirSpeed *= 4.0f;  // more fishing
+        }
+        if ( cirSpeed >  1.0f )  cirSpeed =  1.0f;
+        if ( cirSpeed < -1.0f )  cirSpeed = -1.0f;
+
+        m_physics->SetMotorSpeedZ(cirSpeed);  // turns left / right
+        return true;
+    }
+
+    if ( m_move != 0 )  // preliminary advance?
+    {
+        m_timeLimit -= event.rTime;
+        m_physics->SetMotorSpeedX(m_move);  // forward/backward
+        return true;
+    }
+
+    m_progress += event.rTime*m_speed;  // others advance
+    progress = m_progress;
+    if ( progress > 1.0f )  progress = 1.0f;
+
+    if ( m_bSubm )  // submarine?
+    {
+        if ( m_order == TMO_GRAB )
+        {
+            if ( m_step == 0 )  // fall?
+            {
+                pos = m_object->RetPosition(1);
+                pos.y = 3.0f-progress*2.0f;
+                m_object->SetPosition(1, pos);
+            }
+            if ( m_step == 1 )  // farm?
+            {
+                pos = m_object->RetPosition(2);
+                pos.z = -1.5f+progress*0.5f;
+                m_object->SetPosition(2, pos);
+
+                pos = m_object->RetPosition(3);
+                pos.z = 1.5f-progress*0.5f;
+                m_object->SetPosition(3, pos);
+            }
+            if ( m_step == 2 )  // up?
+            {
+                pos = m_object->RetPosition(1);
+                pos.y = 3.0f-(1.0f-progress)*2.0f;
+                m_object->SetPosition(1, pos);
+            }
+        }
+        else
+        {
+            if ( m_step == 0 )  // fall?
+            {
+                pos = m_object->RetPosition(1);
+                pos.y = 3.0f-progress*2.0f;
+                m_object->SetPosition(1, pos);
+            }
+            if ( m_step == 1 )  // farm?
+            {
+                pos = m_object->RetPosition(2);
+                pos.z = -1.5f+(1.0f-progress)*0.5f;
+                m_object->SetPosition(2, pos);
+
+                pos = m_object->RetPosition(3);
+                pos.z = 1.5f-(1.0f-progress)*0.5f;
+                m_object->SetPosition(3, pos);
+            }
+            if ( m_step == 2 )  // up?
+            {
+                pos = m_object->RetPosition(1);
+                pos.y = 3.0f-(1.0f-progress)*2.0f;
+                m_object->SetPosition(1, pos);
+            }
+        }
+    }
+    else
+    {
+        for ( i=0 ; i<5 ; i++ )
+        {
+            angle = (m_finalAngle[i]-m_initialAngle[i])*progress;
+            angle += m_initialAngle[i];
+            m_object->SetAngleZ(i+1, angle);
+        }
+    }
+
+    return true;
+}
+
+
+// Initializes the initial and final angles.
+
+void CTaskManip::InitAngle()
+{
+    CObject*    power;
+    float       max, energy;
+    int         i;
+
+    if ( m_bSubm || m_bBee )  return;
+
+    if ( m_arm == TMA_NEUTRAL ||
+         m_arm == TMA_GRAB    )
+    {
+        m_finalAngle[0] = ARM_NEUTRAL_ANGLE1;  // arm
+        m_finalAngle[1] = ARM_NEUTRAL_ANGLE2;  // forearm
+        m_finalAngle[2] = ARM_NEUTRAL_ANGLE3;  // hand
+    }
+    if ( m_arm == TMA_STOCK )
+    {
+        m_finalAngle[0] = ARM_STOCK_ANGLE1;  // arm
+        m_finalAngle[1] = ARM_STOCK_ANGLE2;  // forearm
+        m_finalAngle[2] = ARM_STOCK_ANGLE3;  // hand
+    }
+    if ( m_arm == TMA_FFRONT )
+    {
+        m_finalAngle[0] =   35.0f*Math::PI/180.0f;  // arm
+        m_finalAngle[1] =  -95.0f*Math::PI/180.0f;  // forearm
+        m_finalAngle[2] =  -27.0f*Math::PI/180.0f;  // hand
+    }
+    if ( m_arm == TMA_FBACK )
+    {
+        m_finalAngle[0] =  145.0f*Math::PI/180.0f;  // arm
+        m_finalAngle[1] =   95.0f*Math::PI/180.0f;  // forearm
+        m_finalAngle[2] =   27.0f*Math::PI/180.0f;  // hand
+    }
+    if ( m_arm == TMA_POWER )
+    {
+        m_finalAngle[0] =   95.0f*Math::PI/180.0f;  // arm
+        m_finalAngle[1] =  125.0f*Math::PI/180.0f;  // forearm
+        m_finalAngle[2] =   50.0f*Math::PI/180.0f;  // hand
+    }
+    if ( m_arm == TMA_OTHER )
+    {
+        if ( m_height <= 3.0f )
+        {
+            m_finalAngle[0] =  55.0f*Math::PI/180.0f;  // arm
+            m_finalAngle[1] = -90.0f*Math::PI/180.0f;  // forearm
+            m_finalAngle[2] = -35.0f*Math::PI/180.0f;  // hand
+        }
+        else
+        {
+            m_finalAngle[0] =  70.0f*Math::PI/180.0f;  // arm
+            m_finalAngle[1] = -90.0f*Math::PI/180.0f;  // forearm
+            m_finalAngle[2] = -50.0f*Math::PI/180.0f;  // hand
+        }
+    }
+
+    if ( m_hand == TMH_OPEN )  // open clamp?
+    {
+        m_finalAngle[3] = -Math::PI*0.10f;  // clamp close
+        m_finalAngle[4] =  Math::PI*0.10f;  // clamp remote
+    }
+    if ( m_hand == TMH_CLOSE )  // clamp closed?
+    {
+        m_finalAngle[3] =  Math::PI*0.05f;  // clamp close
+        m_finalAngle[4] = -Math::PI*0.05f;  // clamp remote
+    }
+
+    for ( i=0 ; i<5 ; i++ )
+    {
+        m_initialAngle[i] = m_object->RetAngleZ(i+1);
+    }
+
+    max = 0.0f;
+    for ( i=0 ; i<5 ; i++ )
+    {
+        max = Math::Max(max, fabs(m_initialAngle[i] - m_finalAngle[i]));
+    }
+    m_speed = (Math::PI*1.0f)/max;
+    if ( m_speed > 3.0f )  m_speed = 3.0f;  // piano, ma non troppo (?)
+
+    energy = 0.0f;
+    power = m_object->RetPower();
+    if ( power != 0 )
+    {
+        energy = power->RetEnergy();
+    }
+
+    if ( energy == 0.0f )
+    {
+        m_speed *= 0.7f;  // slower if more energy!
+    }
+}
+
+
+// Tests whether an object is compatible with the operation TMA_OTHER.
+
+bool TestFriend(ObjectType oType, ObjectType fType)
+{
+    if ( oType == OBJECT_ENERGY )
+    {
+        return ( fType == OBJECT_METAL );
+    }
+    if ( oType == OBJECT_LABO )
+    {
+        return ( fType == OBJECT_BULLET );
+    }
+    if ( oType == OBJECT_NUCLEAR )
+    {
+        return ( fType == OBJECT_URANIUM );
+    }
+
+    return ( fType == OBJECT_POWER  ||
+             fType == OBJECT_ATOMIC );
+}
+
+// Assigns the goal was achieved.
+
+Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
+{
+    ObjectType  type;
+    CObject     *front, *other, *power;
+    CPyro       *pyro;
+    float       iAngle, dist, len;
+    float       fDist, fAngle, oDist, oAngle, oHeight;
+    Math::Vector    pos, fPos, oPos;
+
+    m_arm      = arm;
+    m_height   = 0.0f;
+    m_step     = 0;
+    m_progress = 0.0f;
+    m_speed    = 1.0f/1.5f;
+
+    iAngle = m_object->RetAngleY(0);
+    iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI
+    oAngle = iAngle;
+
+    m_bError = true;  // operation impossible
+
+    if ( m_arm != TMA_FFRONT &&
+         m_arm != TMA_FBACK  &&
+         m_arm != TMA_POWER  &&
+         m_arm != TMA_GRAB   )  return ERR_MANIP_VEH;
+
+    m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f));
+
+    type = m_object->RetType();
+    if ( type == OBJECT_BEE )  // bee?
+    {
+        if ( m_object->RetFret() == 0 )
+        {
+            if ( !m_physics->RetLand() )  return ERR_MANIP_FLY;
+
+            other = SearchTakeUnderObject(m_targetPos, MARGIN_BEE);
+            if ( other == 0 )  return ERR_MANIP_NIL;
+            m_object->SetFret(other);  // takes the ball
+            other->SetTruck(m_object);
+            other->SetTruckPart(0);  // taken with the base
+            other->SetPosition(0, Math::Vector(0.0f, -3.0f, 0.0f));
+        }
+        else
+        {
+            other = m_object->RetFret();  // other = ball
+            m_object->SetFret(0);  // lick the ball
+            other->SetTruck(0);
+            pos = m_object->RetPosition(0);
+            pos.y -= 3.0f;
+            other->SetPosition(0, pos);
+
+            pos = m_object->RetPosition(0);
+            pos.y += 2.0f;
+            m_object->SetPosition(0, pos);  // against the top of jump
+
+            pyro = new CPyro(m_iMan);
+            pyro->Create(PT_FALL, other);  // the ball falls
+        }
+
+        m_bBee = true;
+        m_bError = false;  // ok
+        return ERR_OK;
+    }
+    m_bBee = false;
+
+    m_bSubm = ( type == OBJECT_MOBILEsa );  // submarine?
+
+    if ( m_arm == TMA_GRAB )  // takes immediately?
+    {
+        TruckTakeObject();
+        Abort();
+        return ERR_OK;
+    }
+
+    m_energy = 0.0f;
+    power = m_object->RetPower();
+    if ( power != 0 )
+    {
+        m_energy = power->RetEnergy();
+    }
+
+    if ( !m_physics->RetLand() )  return ERR_MANIP_FLY;
+
+    if ( type != OBJECT_MOBILEfa &&
+         type != OBJECT_MOBILEta &&
+         type != OBJECT_MOBILEwa &&
+         type != OBJECT_MOBILEia &&
+         type != OBJECT_MOBILEsa )  return ERR_MANIP_VEH;
+
+    if ( m_bSubm )  // submarine?
+    {
+        m_arm = TMA_FFRONT;  // only possible in front!
+    }
+
+    m_move = 0.0f;  // advance not necessary
+    m_angle = iAngle;
+
+    if ( order == TMO_AUTO )
+    {
+        if ( m_object->RetFret() == 0 )
+        {
+            m_order = TMO_GRAB;
+        }
+        else
+        {
+            m_order = TMO_DROP;
+        }
+    }
+    else
+    {
+        m_order = order;
+    }
+
+    if ( m_order == TMO_GRAB && m_object->RetFret() != 0 )
+    {
+        return ERR_MANIP_BUSY;
+    }
+    if ( m_order == TMO_DROP && m_object->RetFret() == 0 )
+    {
+        return ERR_MANIP_EMPTY;
+    }
+
+//? speed = m_physics->RetMotorSpeed();
+//? if ( speed.x != 0.0f ||
+//?      speed.z != 0.0f )  return ERR_MANIP_MOTOR;
+
+    if ( m_order == TMO_GRAB )
+    {
+        if ( m_arm == TMA_FFRONT )
+        {
+            front = SearchTakeFrontObject(true, fPos, fDist, fAngle);
+            other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight);
+
+            if ( front != 0 && fDist < oDist )
+            {
+                m_targetPos = fPos;
+                m_angle = fAngle;
+                m_move = 1.0f;  // advance required
+            }
+            else if ( other != 0 && oDist < fDist )
+            {
+                if ( other->RetPower() == 0 )  return ERR_MANIP_NIL;
+                m_targetPos = oPos;
+                m_angle = oAngle;
+                m_height = oHeight;
+                m_move = 1.0f;  // advance required
+                m_arm = TMA_OTHER;
+            }
+            else
+            {
+                return ERR_MANIP_NIL;
+            }
+            m_main->HideDropZone(front);  // hides buildable area
+        }
+        if ( m_arm == TMA_FBACK )
+        {
+            if ( SearchTakeBackObject(true, m_targetPos, fDist, m_angle) == 0 )
+            {
+                return ERR_MANIP_NIL;
+            }
+            m_angle += Math::PI;
+            m_move = -1.0f;  // back necessary
+        }
+        if ( m_arm == TMA_POWER )
+        {
+            if ( m_object->RetPower() == 0 )  return ERR_MANIP_NIL;
+        }
+    }
+
+    if ( m_order == TMO_DROP )
+    {
+        if ( m_arm == TMA_FFRONT )
+        {
+            other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight);
+            if ( other != 0 && other->RetPower() == 0 )
+            {
+                m_targetPos = oPos;
+                m_angle = oAngle;
+                m_height = oHeight;
+                m_move = 1.0f;  // advance required
+                m_arm = TMA_OTHER;
+            }
+            else
+            {
+                if ( !IsFreeDeposeObject(Math::Vector(TAKE_DIST, 0.0f, 0.0f)) )  return ERR_MANIP_OCC;
+            }
+        }
+        if ( m_arm == TMA_FBACK )
+        {
+            if ( !IsFreeDeposeObject(Math::Vector(-TAKE_DIST, 0.0f, 0.0f)) )  return ERR_MANIP_OCC;
+        }
+        if ( m_arm == TMA_POWER )
+        {
+            if ( m_object->RetPower() != 0 )  return ERR_MANIP_OCC;
+        }
+    }
+
+    dist = Math::Distance(m_object->RetPosition(0), m_targetPos);
+    len = dist-TAKE_DIST;
+    if ( m_arm == TMA_OTHER ) len -= TAKE_DIST_OTHER;
+    if ( len < 0.0f )  len = 0.0f;
+    if ( m_arm == TMA_FBACK ) len = -len;
+    m_advanceLength = dist-m_physics->RetLinLength(len);
+    if ( dist <= m_advanceLength+0.2f )  m_move = 0.0f;  // not necessary to advance
+
+    if ( m_energy == 0.0f )  m_move = 0.0f;
+
+    if ( m_move != 0.0f )  // forward or backward?
+    {
+        m_timeLimit = m_physics->RetLinTimeLength(fabs(len))*1.5f;
+        if ( m_timeLimit < 0.5f )  m_timeLimit = 0.5f;
+    }
+
+    if ( m_object->RetFret() == 0 )  // not carrying anything?
+    {
+        m_hand = TMH_OPEN;  // open clamp
+    }
+    else
+    {
+        m_hand = TMH_CLOSE;  // closed clamp
+    }
+
+    InitAngle();
+
+    if ( iAngle == m_angle || m_energy == 0.0f )
+    {
+        m_bTurn = false;  // preliminary rotation unnecessary
+        SoundManip(1.0f/m_speed);
+    }
+    else
+    {
+        m_bTurn = true;  // preliminary rotation necessary
+    }
+
+    if ( m_bSubm )
+    {
+        m_camera->StartCentering(m_object, Math::PI*0.8f, 99.9f, 0.0f, 0.5f);
+    }
+
+    m_physics->SetFreeze(true);  // it does not move
+
+    m_bError = false;  // ok
+    return ERR_OK;
+}
+
+// Indicates whether the action is complete.
+
+Error CTaskManip::IsEnded()
+{
+    CObject*    fret;
+    Math::Vector    pos;
+    float       angle, dist;
+    int         i;
+
+    if ( m_engine->RetPause() )  return ERR_CONTINUE;
+    if ( m_bError )  return ERR_STOP;
+
+    if ( m_bBee )  // bee?
+    {
+        return ERR_STOP;
+    }
+
+    if ( m_bTurn )  // preliminary rotation?
+    {
+        angle = m_object->RetAngleY(0);
+        angle = Math::NormAngle(angle);  // 0..2*Math::PI
+
+        if ( Math::TestAngle(angle, m_angle-Math::PI*0.01f, m_angle+Math::PI*0.01f) )
+        {
+            m_bTurn = false;  // rotation ended
+            m_physics->SetMotorSpeedZ(0.0f);
+            if ( m_move == 0.0f )
+            {
+                SoundManip(1.0f/m_speed);
+            }
+        }
+        return ERR_CONTINUE;
+    }
+
+    if ( m_move != 0.0f )  // preliminary advance?
+    {
+        if ( m_timeLimit <= 0.0f )
+        {
+//OK 1.9
+            dist = Math::Distance(m_object->RetPosition(0), m_targetPos);
+            if ( dist <= m_advanceLength + 2.0f )
+            {
+                m_move = 0.0f;  // advance ended
+                m_physics->SetMotorSpeedX(0.0f);
+                SoundManip(1.0f/m_speed);
+                return ERR_CONTINUE;
+            }
+            else
+            {
+//EOK 1.9
+                m_move = 0.0f;  // advance ended
+                m_physics->SetMotorSpeedX(0.0f);  // stops
+                Abort();
+                return ERR_STOP;
+            }
+        }
+
+        dist = Math::Distance(m_object->RetPosition(0), m_targetPos);
+        if ( dist <= m_advanceLength )
+        {
+            m_move = 0.0f;  // advance ended
+            m_physics->SetMotorSpeedX(0.0f);
+            SoundManip(1.0f/m_speed);
+        }
+        return ERR_CONTINUE;
+    }
+
+    if ( m_progress < 1.0f )  return ERR_CONTINUE;
+    m_progress = 0.0f;
+
+    if ( !m_bSubm )
+    {
+        for ( i=0 ; i<5 ; i++ )
+        {
+            m_object->SetAngleZ(i+1, m_finalAngle[i]);
+        }
+    }
+    m_step ++;
+
+    if ( m_order == TMO_GRAB )
+    {
+        if ( m_step == 1 )
+        {
+            if ( m_bSubm )  m_speed = 1.0f/0.7f;
+            m_hand = TMH_CLOSE;  // closes the clamp to take
+            InitAngle();
+            SoundManip(1.0f/m_speed, 0.8f, 1.5f);
+            return ERR_CONTINUE;
+        }
+        if ( m_step == 2 )
+        {
+            if ( m_bSubm )  m_speed = 1.0f/1.5f;
+            if ( !TruckTakeObject() &&
+                 m_object->RetFret() == 0 )
+            {
+                m_hand = TMH_OPEN;  // reopens the clamp
+                m_arm = TMA_NEUTRAL;
+                InitAngle();
+                SoundManip(1.0f/m_speed, 0.8f, 1.5f);
+            }
+            else
+            {
+                if ( (m_arm == TMA_OTHER ||
+                      m_arm == TMA_POWER ) &&
+                     (m_fretType == OBJECT_POWER  ||
+                      m_fretType == OBJECT_ATOMIC ) )
+                {
+                    m_sound->Play(SOUND_POWEROFF, m_object->RetPosition(0));
+                }
+                m_arm = TMA_STOCK;
+                InitAngle();
+                SoundManip(1.0f/m_speed);
+            }
+            return ERR_CONTINUE;
+        }
+    }
+
+    if ( m_order == TMO_DROP )
+    {
+        if ( m_step == 1 )
+        {
+            if ( m_bSubm )  m_speed = 1.0f/0.7f;
+            fret = m_object->RetFret();
+            if ( TruckDeposeObject() )
+            {
+                if ( (m_arm == TMA_OTHER ||
+                      m_arm == TMA_POWER ) &&
+                     (m_fretType == OBJECT_POWER  ||
+                      m_fretType == OBJECT_ATOMIC ) )
+                {
+                    m_sound->Play(SOUND_POWERON, m_object->RetPosition(0));
+                }
+                if ( fret != 0 && m_fretType == OBJECT_METAL && m_arm == TMA_FFRONT )
+                {
+                    m_main->ShowDropZone(fret, m_object);  // shows buildable area
+                }
+                m_hand = TMH_OPEN;  // opens the clamp to deposit
+                SoundManip(1.0f/m_speed, 0.8f, 1.5f);
+            }
+            InitAngle();
+            return ERR_CONTINUE;
+        }
+        if ( m_step == 2 )
+        {
+            if ( m_bSubm )  m_speed = 1.0f/1.5f;
+            m_arm = TMA_NEUTRAL;
+            InitAngle();
+            SoundManip(1.0f/m_speed);
+            return ERR_CONTINUE;
+        }
+    }
+
+    Abort();
+    return ERR_STOP;
+}
+
+// Suddenly ends the current action.
+
+bool CTaskManip::Abort()
+{
+    int     i;
+
+    if ( m_object->RetFret() == 0 )  // not carrying anything?
+    {
+        m_hand = TMH_OPEN;  // open clamp
+        m_arm = TMA_NEUTRAL;
+    }
+    else
+    {
+        m_hand = TMH_CLOSE;  // closed clamp
+        m_arm = TMA_STOCK;
+    }
+    InitAngle();
+
+    if ( !m_bSubm )
+    {
+        for ( i=0 ; i<5 ; i++ )
+        {
+            m_object->SetAngleZ(i+1, m_finalAngle[i]);
+        }
+    }
+
+    m_camera->StopCentering(m_object, 2.0f);
+    m_physics->SetFreeze(false);  // is moving again
+    return true;
+}
+
+
+// Seeks the object below to take (for bees).
+
+CObject* CTaskManip::SearchTakeUnderObject(Math::Vector &pos, float dLimit)
+{
+    CObject     *pObj, *pBest;
+    Math::Vector    iPos, oPos;
+    ObjectType  type;
+    float       min, distance;
+    int         i;
+
+    iPos   = m_object->RetPosition(0);
+
+    min = 1000000.0f;
+    pBest = 0;
+    for ( i=0 ; i<1000000 ; i++ )
+    {
+        pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
+        if ( pObj == 0 )  break;
+
+        type = pObj->RetType();
+
+        if ( type != OBJECT_FRET    &&
+             type != OBJECT_STONE   &&
+             type != OBJECT_URANIUM &&
+             type != OBJECT_BULLET  &&
+             type != OBJECT_METAL   &&
+             type != OBJECT_POWER   &&
+             type != OBJECT_ATOMIC  &&
+             type != OBJECT_BBOX    &&
+             type != OBJECT_KEYa    &&
+             type != OBJECT_KEYb    &&
+             type != OBJECT_KEYc    &&
+             type != OBJECT_KEYd    &&
+             type != OBJECT_TNT     )  continue;
+
+        if ( pObj->RetTruck() != 0 )  continue;  // object transported?
+        if ( pObj->RetLock() )  continue;
+        if ( pObj->RetZoomY(0) != 1.0f )  continue;
+
+        oPos = pObj->RetPosition(0);
+        distance = Math::Distance(oPos, iPos);
+        if ( distance <= dLimit &&
+             distance < min     )
+        {
+            min = distance;
+            pBest = pObj;
+        }
+    }
+    if ( pBest != 0 )
+    {
+        pos = pBest->RetPosition(0);
+    }
+    return pBest;
+}
+
+// Seeks the object in front to take.
+
+CObject* CTaskManip::SearchTakeFrontObject(bool bAdvance, Math::Vector &pos,
+                                           float &distance, float &angle)
+{
+    CObject     *pObj, *pBest;
+    Math::Vector    iPos, oPos;
+    ObjectType  type;
+    float       min, iAngle, bAngle, aLimit, dLimit, f;
+    int         i;
+
+    iPos   = m_object->RetPosition(0);
+    iAngle = m_object->RetAngleY(0);
+    iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI
+
+    if ( bAdvance && m_energy > 0.0f )
+    {
+        aLimit = 60.0f*Math::PI/180.0f;
+        dLimit = MARGIN_FRONT+10.0f;
+    }
+    else
+    {
+//?     aLimit = 7.0f*Math::PI/180.0f;
+        aLimit = 15.0f*Math::PI/180.0f;  //OK 1.9
+        dLimit = MARGIN_FRONT;
+    }
+
+    min = 1000000.0f;
+    pBest = 0;
+    bAngle = 0.0f;
+    for ( i=0 ; i<1000000 ; i++ )
+    {
+        pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
+        if ( pObj == 0 )  break;
+
+        type = pObj->RetType();
+
+        if ( type != OBJECT_FRET    &&
+             type != OBJECT_STONE   &&
+             type != OBJECT_URANIUM &&
+             type != OBJECT_BULLET  &&
+             type != OBJECT_METAL   &&
+             type != OBJECT_POWER   &&
+             type != OBJECT_ATOMIC  &&
+             type != OBJECT_BBOX    &&
+             type != OBJECT_KEYa    &&
+             type != OBJECT_KEYb    &&
+             type != OBJECT_KEYc    &&
+             type != OBJECT_KEYd    &&
+             type != OBJECT_TNT     &&
+             type != OBJECT_SCRAP1  &&
+             type != OBJECT_SCRAP2  &&
+             type != OBJECT_SCRAP3  &&
+             type != OBJECT_SCRAP4  &&
+             type != OBJECT_SCRAP5  )  continue;
+
+        if ( pObj->RetTruck() != 0 )  continue;  // object transported?
+        if ( pObj->RetLock() )  continue;
+        if ( pObj->RetZoomY(0) != 1.0f )  continue;
+
+        oPos = pObj->RetPosition(0);
+        distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);
+        f = 1.0f-distance/50.0f;
+        if ( f < 0.5f )  f = 0.5f;
+
+        angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z);  // CW !
+        if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) )  continue;
+
+        if ( distance < -dLimit ||
+             distance >  dLimit )  continue;
+
+        if ( distance < min )
+        {
+            min = distance;
+            pBest = pObj;
+            bAngle = angle;
+        }
+    }
+    if ( pBest == 0 )
+    {
+        distance = 1000000.0f;
+        angle = 0.0f;
+    }
+    else
+    {
+        pos = pBest->RetPosition(0);
+        distance = min;
+        angle = bAngle;
+    }
+    return pBest;
+}
+
+// Seeks the object back to take.
+
+CObject* CTaskManip::SearchTakeBackObject(bool bAdvance, Math::Vector &pos,
+                                          float &distance, float &angle)
+{
+    CObject     *pObj, *pBest;
+    Math::Vector    iPos, oPos;
+    ObjectType  type;
+    float       min, iAngle, bAngle, aLimit, dLimit, f;
+    int         i;
+
+    iPos   = m_object->RetPosition(0);
+    iAngle = m_object->RetAngleY(0)+Math::PI;
+    iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI
+
+    if ( bAdvance && m_energy > 0.0f )
+    {
+        aLimit = 60.0f*Math::PI/180.0f;
+        dLimit = MARGIN_BACK+5.0f;
+    }
+    else
+    {
+        aLimit = 7.0f*Math::PI/180.0f;
+        dLimit = MARGIN_BACK;
+    }
+
+    min = 1000000.0f;
+    pBest = 0;
+    bAngle = 0.0f;
+    for ( i=0 ; i<1000000 ; i++ )
+    {
+        pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
+        if ( pObj == 0 )  break;
+
+        type = pObj->RetType();
+
+        if ( type != OBJECT_FRET    &&
+             type != OBJECT_STONE   &&
+             type != OBJECT_URANIUM &&
+             type != OBJECT_BULLET  &&
+             type != OBJECT_METAL   &&
+             type != OBJECT_POWER   &&
+             type != OBJECT_ATOMIC  &&
+             type != OBJECT_BBOX    &&
+             type != OBJECT_KEYa    &&
+             type != OBJECT_KEYb    &&
+             type != OBJECT_KEYc    &&
+             type != OBJECT_KEYd    &&
+             type != OBJECT_TNT     &&
+             type != OBJECT_SCRAP1  &&
+             type != OBJECT_SCRAP2  &&
+             type != OBJECT_SCRAP3  &&
+             type != OBJECT_SCRAP4  &&
+             type != OBJECT_SCRAP5  )  continue;
+
+        if ( pObj->RetTruck() != 0 )  continue;  // object transported?
+        if ( pObj->RetLock() )  continue;
+        if ( pObj->RetZoomY(0) != 1.0f )  continue;
+
+        oPos = pObj->RetPosition(0);
+        distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);
+        f = 1.0f-distance/50.0f;
+        if ( f < 0.5f )  f = 0.5f;
+
+        angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z);  // CW !
+        if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) )  continue;
+
+        if ( distance < -dLimit ||
+             distance >  dLimit )  continue;
+
+        if ( distance < min )
+        {
+            min = distance;
+            pBest = pObj;
+            bAngle = angle;
+        }
+    }
+    if ( pBest == 0 )
+    {
+        distance = 1000000.0f;
+        angle = 0.0f;
+    }
+    else
+    {
+        pos = pBest->RetPosition(0);
+        distance = min;
+        angle = bAngle;
+    }
+    return pBest;
+}
+
+// Seeks the robot or building on which it wants to put a battery or or other object.
+
+CObject* CTaskManip::SearchOtherObject(bool bAdvance, Math::Vector &pos,
+                                       float &distance, float &angle,
+                                       float &height)
+{
+    Character*  character;
+    CObject*    pObj;
+    CObject*    pPower;
+    Math::Matrix*   mat;
+    Math::Vector    iPos, oPos;
+    ObjectType  type, powerType;
+    float       iAngle, iRad, oAngle, oLimit, aLimit, dLimit;
+    int         i;
+
+    distance = 1000000.0f;
+    angle = 0.0f;
+
+    if ( m_bSubm )  return 0;  // impossible with the submarine
+
+    if ( !m_object->GetCrashSphere(0, iPos, iRad) )  return 0;
+    iAngle = m_object->RetAngleY(0);
+    iAngle = Math::NormAngle(iAngle);  // 0..2*Math::PI
+
+    if ( bAdvance && m_energy > 0.0f )
+    {
+        aLimit = 60.0f*Math::PI/180.0f;
+        dLimit = MARGIN_FRIEND+10.0f;
+    }
+    else
+    {
+        aLimit = 7.0f*Math::PI/180.0f;
+        dLimit = MARGIN_FRIEND;
+    }
+
+    for ( i=0 ; i<1000000 ; i++ )
+    {
+        pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
+        if ( pObj == 0 )  break;
+
+        if ( pObj == m_object )  continue;  // yourself?
+
+        type = pObj->RetType();
+        if ( type != OBJECT_MOBILEfa &&
+             type != OBJECT_MOBILEta &&
+             type != OBJECT_MOBILEwa &&
+             type != OBJECT_MOBILEia &&
+             type != OBJECT_MOBILEfc &&
+             type != OBJECT_MOBILEtc &&
+             type != OBJECT_MOBILEwc &&
+             type != OBJECT_MOBILEic &&
+             type != OBJECT_MOBILEfi &&
+             type != OBJECT_MOBILEti &&
+             type != OBJECT_MOBILEwi &&
+             type != OBJECT_MOBILEii &&
+             type != OBJECT_MOBILEfs &&
+             type != OBJECT_MOBILEts &&
+             type != OBJECT_MOBILEws &&
+             type != OBJECT_MOBILEis &&
+             type != OBJECT_MOBILErt &&
+             type != OBJECT_MOBILErc &&
+             type != OBJECT_MOBILErr &&
+             type != OBJECT_MOBILErs &&
+             type != OBJECT_MOBILEsa &&
+             type != OBJECT_MOBILEtg &&
+             type != OBJECT_MOBILEft &&
+             type != OBJECT_MOBILEtt &&
+             type != OBJECT_MOBILEwt &&
+             type != OBJECT_MOBILEit &&
+             type != OBJECT_TOWER    &&
+             type != OBJECT_RESEARCH &&
+             type != OBJECT_ENERGY   &&
+             type != OBJECT_LABO     &&
+             type != OBJECT_NUCLEAR  )  continue;
+
+        pPower = pObj->RetPower();
+        if ( pPower != 0 )
+        {
+            if ( pPower->RetLock() )  continue;
+            if ( pPower->RetZoomY(0) != 1.0f )  continue;
+
+            powerType = pPower->RetType();
+            if ( powerType == OBJECT_NULL ||
+                 powerType == OBJECT_FIX  )  continue;
+        }
+
+        mat = pObj->RetWorldMatrix(0);
+        character = pObj->RetCharacter();
+        oPos = Transform(*mat, character->posPower);
+
+        oAngle = pObj->RetAngleY(0);
+        if ( type == OBJECT_TOWER    ||
+             type == OBJECT_RESEARCH )
+        {
+            oLimit = 45.0f*Math::PI/180.0f;
+        }
+        else if ( type == OBJECT_ENERGY )
+        {
+            oLimit = 90.0f*Math::PI/180.0f;
+        }
+        else if ( type == OBJECT_LABO )
+        {
+            oLimit = 120.0f*Math::PI/180.0f;
+        }
+        else if ( type == OBJECT_NUCLEAR )
+        {
+            oLimit = 45.0f*Math::PI/180.0f;
+        }
+        else
+        {
+            oLimit = 45.0f*Math::PI/180.0f;
+            oAngle += Math::PI;  // is behind
+        }
+        oAngle = Math::NormAngle(oAngle);  // 0..2*Math::PI
+        angle = Math::RotateAngle(iPos.x-oPos.x, oPos.z-iPos.z);  // CW !
+        if ( !Math::TestAngle(angle, oAngle-oLimit, oAngle+oLimit) )  continue;
+
+        distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);
+        if ( distance <= dLimit )
+        {
+            angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z);  // CW !
+            if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
+            {
+                character = pObj->RetCharacter();
+                height = character->posPower.y;
+                pos = oPos;
+                return pObj;
+            }
+        }
+    }
+
+    distance = 1000000.0f;
+    angle = 0.0f;
+    return 0;
+}
+
+// Takes the object placed in front.
+
+bool CTaskManip::TruckTakeObject()
+{
+    CObject*    fret;
+    CObject*    other;
+    Math::Matrix    matRotate;
+    Math::Vector    pos;
+    float       angle, dist;
+
+    if ( m_arm == TMA_GRAB )  // takes immediately?
+    {
+        fret = m_object->RetFret();
+        if ( fret == 0 )  return false;  // nothing to take?
+        m_fretType = fret->RetType();
+
+        if ( m_object->RetType() == OBJECT_HUMAN ||
+             m_object->RetType() == OBJECT_TECH  )
+        {
+            fret->SetTruck(m_object);
+            fret->SetTruckPart(4);  // takes with the hand
+
+            fret->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));
+            fret->SetAngleY(0, 0.1f);
+            fret->SetAngleX(0, 0.0f);
+            fret->SetAngleZ(0, 0.8f);
+        }
+        else if ( m_bSubm )
+        {
+            fret->SetTruck(m_object);
+            fret->SetTruckPart(2);  // takes with the right claw
+
+            pos = Math::Vector(1.1f, -1.0f, 1.0f);  // relative
+            fret->SetPosition(0, pos);
+            fret->SetAngleX(0, 0.0f);
+            fret->SetAngleY(0, 0.0f);
+            fret->SetAngleZ(0, 0.0f);
+        }
+        else
+        {
+            fret->SetTruck(m_object);
+            fret->SetTruckPart(3);  // takes with the hand
+
+            pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)
+            fret->SetPosition(0, pos);
+            fret->SetAngleX(0, 0.0f);
+            fret->SetAngleZ(0, Math::PI/2.0f);
+            fret->SetAngleY(0, 0.0f);
+        }
+
+        m_object->SetFret(fret);  // takes
+    }
+
+    if ( m_arm == TMA_FFRONT )  // takes on the ground in front?
+    {
+        fret = SearchTakeFrontObject(false, pos, dist, angle);
+        if ( fret == 0 )  return false;  // nothing to take?
+        m_fretType = fret->RetType();
+
+        if ( m_bSubm )
+        {
+            fret->SetTruck(m_object);
+            fret->SetTruckPart(2);  // takes with the right claw
+
+            pos = Math::Vector(1.1f, -1.0f, 1.0f);  // relative
+            fret->SetPosition(0, pos);
+            fret->SetAngleX(0, 0.0f);
+            fret->SetAngleY(0, 0.0f);
+            fret->SetAngleZ(0, 0.0f);
+        }
+        else
+        {
+            fret->SetTruck(m_object);
+            fret->SetTruckPart(3);  // takes with the hand
+
+            pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)
+            fret->SetPosition(0, pos);
+            fret->SetAngleX(0, 0.0f);
+            fret->SetAngleZ(0, Math::PI/2.0f);
+            fret->SetAngleY(0, 0.0f);
+        }
+
+        m_object->SetFret(fret);  // takes
+    }
+
+    if ( m_arm == TMA_FBACK )  // takes on the ground behind?
+    {
+        fret = SearchTakeBackObject(false, pos, dist, angle);
+        if ( fret == 0 )  return false;  // nothing to take?
+        m_fretType = fret->RetType();
+
+        fret->SetTruck(m_object);
+        fret->SetTruckPart(3);  // takes with the hand
+
+        pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)
+        fret->SetPosition(0, pos);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, Math::PI/2.0f);
+        fret->SetAngleY(0, 0.0f);
+
+        m_object->SetFret(fret);  // takes
+    }
+
+    if ( m_arm == TMA_POWER )  // takes battery in the back?
+    {
+        fret = m_object->RetPower();
+        if ( fret == 0 )  return false;  // no battery?
+        m_fretType = fret->RetType();
+
+        pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)
+        fret->SetPosition(0, pos);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, Math::PI/2.0f);
+        fret->SetAngleY(0, 0.0f);
+        fret->SetTruckPart(3);  // takes with the hand
+
+        m_object->SetPower(0);
+        m_object->SetFret(fret);  // takes
+    }
+
+    if ( m_arm == TMA_OTHER )  // battery takes from friend?
+    {
+        other = SearchOtherObject(false, pos, dist, angle, m_height);
+        if ( other == 0 )  return false;
+
+        fret = other->RetPower();
+        if ( fret == 0 )  return false;  // the other does not have a battery?
+        m_fretType = fret->RetType();
+
+        other->SetPower(0);
+        fret->SetTruck(m_object);
+        fret->SetTruckPart(3);  // takes with the hand
+
+        pos = Math::Vector(4.7f, 0.0f, 0.0f);  // relative to the hand (lem4)
+        fret->SetPosition(0, pos);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, Math::PI/2.0f);
+        fret->SetAngleY(0, 0.0f);
+
+        m_object->SetFret(fret);  // takes
+    }
+
+    return true;
+}
+
+// Deposes the object taken.
+
+bool CTaskManip::TruckDeposeObject()
+{
+    Character*  character;
+    CObject*    fret;
+    CObject*    other;
+    Math::Matrix*   mat;
+    Math::Vector    pos;
+    float       angle, dist;
+
+    if ( m_arm == TMA_FFRONT )  // deposits on the ground in front?
+    {
+        fret = m_object->RetFret();
+        if ( fret == 0 )  return false;  // nothing transported?
+        m_fretType = fret->RetType();
+
+        mat = fret->RetWorldMatrix(0);
+        pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f));
+        m_terrain->MoveOnFloor(pos);
+        fret->SetPosition(0, pos);
+        fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, 0.0f);
+        fret->FloorAdjust();  // plate well on the ground
+
+        fret->SetTruck(0);
+        m_object->SetFret(0);  // deposit
+    }
+
+    if ( m_arm == TMA_FBACK )  // deposited on the ground behind?
+    {
+        fret = m_object->RetFret();
+        if ( fret == 0 )  return false;  // nothing transported?
+        m_fretType = fret->RetType();
+
+        mat = fret->RetWorldMatrix(0);
+        pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f));
+        m_terrain->MoveOnFloor(pos);
+        fret->SetPosition(0, pos);
+        fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, 0.0f);
+
+        fret->SetTruck(0);
+        m_object->SetFret(0);  // deposit
+    }
+
+    if ( m_arm == TMA_POWER )  // deposits battery in the back?
+    {
+        fret = m_object->RetFret();
+        if ( fret == 0 )  return false;  // nothing transported?
+        m_fretType = fret->RetType();
+
+        if ( m_object->RetPower() != 0 )  return false;
+
+        fret->SetTruck(m_object);
+        fret->SetTruckPart(0);  // carried by the base
+
+        character = m_object->RetCharacter();
+        fret->SetPosition(0, character->posPower);
+        fret->SetAngleY(0, 0.0f);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, 0.0f);
+
+        m_object->SetPower(fret);  // uses
+        m_object->SetFret(0);
+    }
+
+    if ( m_arm == TMA_OTHER )  // deposits battery on friend?
+    {
+        other = SearchOtherObject(false, pos, dist, angle, m_height);
+        if ( other == 0 )  return false;
+
+        fret = other->RetPower();
+        if ( fret != 0 )  return false;  // the other already has a battery?
+
+        fret = m_object->RetFret();
+        if ( fret == 0 )  return false;
+        m_fretType = fret->RetType();
+
+        other->SetPower(fret);
+        fret->SetTruck(other);
+
+        character = other->RetCharacter();
+        fret->SetPosition(0, character->posPower);
+        fret->SetAngleY(0, 0.0f);
+        fret->SetAngleX(0, 0.0f);
+        fret->SetAngleZ(0, 0.0f);
+        fret->SetTruckPart(0);  // carried by the base
+
+        m_object->SetFret(0);  // deposit
+    }
+
+    return true;
+}
+
+// Seeks if a location allows to deposit an object.
+
+bool CTaskManip::IsFreeDeposeObject(Math::Vector pos)
+{
+    CObject*    pObj;
+    Math::Matrix*   mat;
+    Math::Vector    iPos, oPos;
+    float       oRadius;
+    int         i, j;
+
+    mat = m_object->RetWorldMatrix(0);
+    iPos = Transform(*mat, pos);
+
+    for ( i=0 ; i<1000000 ; i++ )
+    {
+        pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
+        if ( pObj == 0 )  break;
+
+        if ( pObj == m_object )  continue;
+        if ( !pObj->RetActif() )  continue;  // inactive?
+        if ( pObj->RetTruck() != 0 )  continue;  // object transported?
+
+        j = 0;
+        while ( pObj->GetCrashSphere(j++, oPos, oRadius) )
+        {
+            if ( Math::Distance(iPos, oPos)-(oRadius+1.0f) < 2.0f )
+            {
+                return false;  // location occupied
+            }
+        }
+    }
+    return true;  // location free
+}
+
+// Plays the sound of the manipulator arm.
+
+void CTaskManip::SoundManip(float time, float amplitude, float frequency)
+{
+    int     i;
+
+    i = m_sound->Play(SOUND_MANIP, m_object->RetPosition(0), 0.0f, 0.3f*frequency, true);
+    m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, 0.1f, SOPER_CONTINUE);
+    m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, time-0.1f, SOPER_CONTINUE);
+    m_sound->AddEnvelope(i, 0.0f, 0.3f*frequency, 0.1f, SOPER_STOP);
+}
+