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svas_server.cc

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/*
  svas_server -- virtual World Server of Svas
  Copyright (c) 2001, 2002 David Moreno Montero
 
 
  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 2 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, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  02111-1307, USA.  

*/

/** \mainpage Simulacion de Vida Artificial -- SVAS
 *
 * \section intro Introduction
 *
 * SVAS is an alife 3d virtual enviroment with physic laws, and a
 * distributed design.
 *
 * There are four important distributed parts on the server: we have
 * on one side the grand master, CommCenter, that controls the flow of
 * execution, and then we have clients, each of them is executed in
 * parallel, using threads; they are Client, ControlClient and
 * GraphicClient, and all them are subclasses from BaseClient. Client
 * is the class that controls the agents.
 *
 * \section install Installation
 *
 * SVAS is really only the server, so you only need to compile it.
 *
 * A plain Makefile is included, so using the un*x command make is
 * enought, anyway if you compile it on another platform you only need
 * to note that svas_server uses the libcommonc++ libraries, so look
 * what they need on your platform, and just compile svas_server with
 * libcommonc++
 * 
 * There is also a graphic client, made with Qt/KDE 3.0/OpenGL in the
 * LiNUX platform, and a set of utilities made in Python that can be
 * used to display the world status with POVray raytracer.
 *
 * You need also at least one agent client if you want to make
 * something; there is a library made with python to help making
 * agents, and some examples are provided too.
 * 
 * \section reading Reading the code
 *
 * As SVAS is a full virtual enviroment it have lots of different
 * areas, as the physics, the communication, the world as container... 
 *
 * The easiest way to comprehend the system id to look at it as a
 * succesion of cycles, and then look a what one cycle does.
 *
 * \subsection overview A World Step
 *
 * First of all there are several threads of execution, the first is
 * the control one, that controls the creation of new threads
 * (clients), and checks when them have finished their works to begin
 * the physic simulation.
 *
 * While this check is being done, the other threads are receiving
 * data and only writting in the Cylinder::desiredAction attribute, so
 * no need of mutex nor any other type of synchronization is needed.
 * Of course they can read as much as they want, and when they end the
 * decrease the atomic counter that Wold::numClients is.
 *
 * Then, when all them finish, the physic simulation takes place.
 *
 * The physic simulation is done in the World class and on the
 * Cylinder one, using Collision.
 *
 * First at World::step() we begin the cycle, making the cylinders to
 * Cylinder::performActions() in the Cylinder::newCyle() method, then
 * we make one World::step(0,1), and it get subdivided if there is any
 * collision, if there is, we Cylinder::undoVelocity(), and make one
 * of the Collision::resolve() variants. So on until time is small
 * enought (COLLISION_TIME_EPSILUM), or no collision is
 * left... Contacts are solved too, but they do not need to be solved
 * until the end.
 *
 * \section contact Contact
 *
 * This program is being developed by David Moreno, who can be
 * contacted at the_hell@retemail.es. There is a project page at
 * http://savannah.gnu.org/projects/svas, and a CVS repository that
 * can be accesed at subversions.gnu.org:/cvsroot/svas,
 * http://savannah.gnu.org/cgi-bin/viewcvs/svas/.
 *
 * \section license License
 *
 * svas_server -- virtual World Server of Svas
 * Copyright (c) 2001, 2002 David Moreno Montero
 * 
 *
 * 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 2 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, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
 * 02111-1307, USA.  
 *
 */


#include <thread.h>
#include <math.h>
#include "vector3d.h"
#include "quaternion.h"
#include "commcenter.h"
#include "log.h"
#include <iostream>
#include <persist.h>

/**
 * Main function.
 */
int main(int argc, char **argv){
  log <<"Welcome to SVAS - Simulación de Vida Artificial SVAS"<<endl;
  try{
    CommCenter().loop();
  }
  catch(ost::Exception a){
    cerr <<"An unhandled exception occurred! Look at log!"<<endl;
  }
}

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