Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
{
ObjectType type;
CObject *front, *other, *power;
Gfx::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->GetAngleY(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->GetType();
if ( type == OBJECT_BEE ) // bee?
{
if ( m_object->GetFret() == 0 )
{
if ( !m_physics->GetLand() ) 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->GetFret(); // other = ball
m_object->SetFret(0); // lick the ball
other->SetTruck(0);
pos = m_object->GetPosition(0);
pos.y -= 3.0f;
other->SetPosition(0, pos);
pos = m_object->GetPosition(0);
pos.y += 2.0f;
m_object->SetPosition(0, pos); // against the top of jump
pyro = new Gfx::CPyro();
pyro->Create(Gfx::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->GetPower();
if ( power != 0 )
{
m_energy = power->GetEnergy();
}
if ( !m_physics->GetLand() ) 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->GetFret() == 0 )
{
m_order = TMO_GRAB;
}
else
{
m_order = TMO_DROP;
}
}
else
{
m_order = order;
}
if ( m_order == TMO_GRAB && m_object->GetFret() != 0 )
{
return ERR_MANIP_BUSY;
}
if ( m_order == TMO_DROP && m_object->GetFret() == 0 )
{
return ERR_MANIP_EMPTY;
}
//? speed = m_physics->GetMotorSpeed();
//? 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->GetPower() == 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->GetPower() == 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->GetPower() == 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->GetPower() != 0 ) return ERR_MANIP_OCC;
}
}
dist = Math::Distance(m_object->GetPosition(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->GetLinLength(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->GetLinTimeLength(fabs(len))*1.5f;
if ( m_timeLimit < 0.5f ) m_timeLimit = 0.5f;
}
if ( m_object->GetFret() == 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;
}
Error CTaskTake::Start()
{
m_height = 0.0f;
m_step = 0;
m_progress = 0.0f;
float iAngle = m_object->GetRotationY();
iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
float oAngle = iAngle;
m_bError = true; // operation impossible
if ( !m_physics->GetLand() )
{
Math::Vector pos = m_object->GetPosition();
float h = m_water->GetLevel(m_object);
if ( pos.y < h ) return ERR_MANIP_WATER; // impossible under water
return ERR_MANIP_FLY;
}
ObjectType type = m_object->GetType();
if ( type != OBJECT_HUMAN &&
type != OBJECT_TECH ) return ERR_WRONG_BOT;
m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f));
if (m_object->IsCarryingCargo())
m_order = TTO_DEPOSE;
else
m_order = TTO_TAKE;
if ( m_order == TTO_TAKE )
{
Math::Vector pos = m_object->GetPosition();
float h = m_water->GetLevel(m_object);
if ( pos.y < h ) return ERR_MANIP_WATER; // impossible under water
CObject* other = SearchFriendObject(oAngle, 1.5f, Math::PI*0.50f);
if (other != nullptr) assert(other->Implements(ObjectInterfaceType::Powered));
if (other != nullptr && dynamic_cast<CPoweredObject*>(other)->GetPower() != nullptr)
{
CObject* power = dynamic_cast<CPoweredObject*>(other)->GetPower();
type = power->GetType();
if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
assert(power->Implements(ObjectInterfaceType::Transportable));
//? m_camera->StartCentering(m_object, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f);
m_arm = TTA_FRIEND;
}
else
{
other = SearchTakeObject(oAngle, 1.5f, Math::PI*0.45f);
if ( other == nullptr ) return ERR_MANIP_NIL;
type = other->GetType();
if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
//? m_camera->StartCentering(m_object, Math::PI*0.3f, 99.9f, 0.0f, 0.8f);
m_arm = TTA_FFRONT;
m_main->HideDropZone(other); // hides buildable area
}
}
if ( m_order == TTO_DEPOSE )
{
//? speed = m_physics->GetMotorSpeed();
//? if ( speed.x != 0.0f ||
//? speed.z != 0.0f ) return ERR_MANIP_MOTOR;
CObject* other = SearchFriendObject(oAngle, 1.5f, Math::PI*0.50f);
if (other != nullptr) assert(other->Implements(ObjectInterfaceType::Powered));
if (other != nullptr && dynamic_cast<CPoweredObject*>(other)->GetPower() == nullptr )
{
//? m_camera->StartCentering(m_object, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f);
m_arm = TTA_FRIEND;
}
else
{
if ( !IsFreeDeposeObject(Math::Vector(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
//? m_camera->StartCentering(m_object, Math::PI*0.3f, 99.9f, 0.0f, 0.8f);
m_arm = TTA_FFRONT;
}
}
m_bTurn = true; // preliminary rotation necessary
m_angle = oAngle; // angle was reached
m_physics->SetFreeze(true); // it does not move
m_bError = false; // ok
return ERR_OK;
}
