First of all you can find classes used for MSBuild tasks at MSDN. But you should note that it's explicitly written:
This API supports the .NET Framework infrastructure and is not intended to be used directly from your code
Also you can find example of such usage in this blog post.
So that is answer to what you asked, but maybe there is different solution that you need: You can break your task into many sub-tasks: output from first custom task is sent to MSBuild project that can be used by built-in tasks and output of built-in task sent into your second custom task and so on.