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// * 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.h
#pragma once
#include "object/task/task.h"
#include "object/object.h"
#include "math/vector.h"
enum TaskManipOrder
{
TMO_AUTO = 0, // deposits or takes automatically
TMO_GRAB = 1, // takes an object
TMO_DROP = 2, // deposits the object
};
enum TaskManipArm
{
TMA_NEUTRAL = 1, // empty arm at rest
TMA_STOCK = 2, // right arm resting
TMA_FFRONT = 3, // arm on the ground
TMA_FBACK = 4, // arm behind the robot
TMA_POWER = 5, // arm behind the robot
TMA_OTHER = 6, // arm behind a friend robot
TMA_GRAB = 7, // takes immediately
};
enum TaskManipHand
{
TMH_OPEN = 1, // open clamp
TMH_CLOSE = 2, // closed clamp
};
class CTaskManip : public CTask
{
public:
CTaskManip(CObject* object);
~CTaskManip();
bool EventProcess(const Event &event);
Error Start(TaskManipOrder order, TaskManipArm arm);
Error IsEnded();
bool Abort();
protected:
void InitAngle();
CObject* SearchTakeUnderObject(Math::Vector &pos, float dLimit);
CObject* SearchTakeFrontObject(bool bAdvance, Math::Vector &pos, float &distance, float &angle);
CObject* SearchTakeBackObject(bool bAdvance, Math::Vector &pos, float &distance, float &angle);
CObject* SearchOtherObject(bool bAdvance, Math::Vector &pos, float &distance, float &angle, float &height);
bool TruckTakeObject();
bool TruckDeposeObject();
bool IsFreeDeposeObject(Math::Vector 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;
Math::Vector m_targetPos;
float m_timeLimit;
ObjectType m_fretType;
};
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