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Between Heaven & Hell 2
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BetweenHeavenHell.cdr
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rccl205
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1987-03-02
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65 lines
#include "../h/rccl.h"
#include "../h/umac.h"
pumatask()
{
TRSF_PTR z, e, conv, or, fl;
POS_PTR pm;
int convfn();
int i;
conv = newtrans("CONV",convfn);
z = gentr_trsl("Z", 0., 0., 864.);
e = gentr_eul("E" , 0. , 0. , 170. , 0. , 0., 0.);/* finger tips */
or = gentr_eul("OR", 000. , 600., 500., 0., 0., 90.);
fl = gentr_rot("FL", 0. , 0., 0., yunit, 180.);
pm = makeposition("PM" , z, t6, e, EQ, conv, or, fl, TL, e);
movecart(pm, 300, 1500);
for (; ; ) {
printf("cart ");QUERY(i);
if (i == 'y') {
for (i = 0; i < 8; ++i) {
movecart(pm, 100, 500);
movecart(pm, 100, 500);
}
}
printf("jnts ");QUERY(i);
if (i == 'y') {
for (i = 0; i < 8; ++i) {
movejnts(pm, 100, 500);
movejnts(pm, 100, 500);
}
}
printf("mixt ");QUERY(i);
if (i == 'y') {
for (i = 0; i < 8; ++i) {
movejnts(pm, 100, 500);
movecart(pm, 100, 500);
}
}
printf("quit ");QUERY(i);
if (i == 'y') {
break;
}
}
movecart(park, 300, 1500);
}
convfn(t)
TRSF_PTR t;
{
extern int rtime;
double time;
double omega = .125;
double radius = 200.;
time = rtime / 1000.;
t->p.x = radius * cos(omega * time * PIT2);
t->p.z = radius * sin(omega * time * PIT2);
}