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// 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 d�pose automatique
TMO_GRAB = 1, // prend un objet
TMO_DROP = 2, // d�pose 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 derri�re le robot
TMA_POWER = 5, // bras derri�re le robot
TMA_OTHER = 6, // bras derri�re un robot amis
TMA_GRAB = 7, // prend imm�diatement
};
enum TaskManipHand
{
TMH_OPEN = 1, // pince ouverte
TMH_CLOSE = 2, // pince ferm�e
};
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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