colobot/src/object/task/taskmanip.h

// * 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(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(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;
};