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world.h

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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.  

*/

#ifndef __WORLD_H__
#define __WORLD_H

#include <thread.h>
#include <vector>
#include "log.h"
#include "boundingbox.h"


class Client;
class Agent;
class Cylinder;
class CommCenter;

class MessageAir{
 public:
  char *data;
  unsigned long int size;
  Agent *agent;

  MessageAir(const char *_data, unsigned long int _size, Agent *_agent){
    data=new char[_size];    memcpy(data,_data, _size);
    size=_size;              agent=_agent;
  }
  
  ~MessageAir(){
    if (NULL!=data) delete data;
  }
};

/**
 * The world where the agents live in. The world have agents, and the
 * agents are composed of cylinders. The world have size limits (or
 * not).
 */
class World{
 protected:
  /// The agents that are in this world 
  vector<Agent *> agents;
  /// Some cylinders are not attached to agents, as the energy
  /// cylinders, and those on the ground
  vector<Cylinder *> cylinders;
  /// The limits of this world. 
  BoundingBox bbox;
  ///   If I want to destroy this world
  bool quit;
  /// The commCenter that communicates this world
  CommCenter *commCenter;
  /// The messages that are in the air in current cycle
  vector<MessageAir> messages;

  /**
   * @name some constants of this universe
   * @{
   */
  /// gravity of this world
  static double gravity;
  /// Linear drag coefficient
  static double linearDragCoefficient;
  /// Angular drag coefficient
  static double angularDragCoefficient;
  /// Ground restitution coefficient
  static double groundRestitutionCoefficient;
  /// Ground friction coefficient
  static double groundFrictionCoefficient;
  /// Spring coefficient (glue)
  static double springCoefficient;
  /// Damper coefficient (resistance to union/separation in glue)
  static double damperCoefficient;
  /** @} */

 public:
  /// Creates a world that is contained in the bounding box
  World(CommCenter *_commCenter,BoundingBox _bbox=BoundingBox());
      

  /// Creates and adds a new agent to the world
  void newAgent(Cylinder *cyl, const char *creationMessage, unsigned long int messageSize);
  /// Adds a existing agent to this world
  void newAgent(Agent *);
  /// Delete the agents that depend on this client 
  void clientOut(Client *);

  /// Make this world disappear 
  void setQuit(){ quit=true; }
  /// Do I wanna quit?
  bool getQuit(){ return quit; }
  /// Get an Agent 
  Agent *getAgent(unsigned long int agentId);
  /// Get agents in this area
  vector<Agent*> getAgents(BoundingBox box=BoundingBox());
  /// Get a string with stats about the world
  string getStats();
  /// Run a time step (move objects...)
  void step();
  /// Seccond part of step, this is the collision detection/response part
  void step(double lowerLimit, double upperLimit);
  /// Adds a new cylinder to the cylinders in the world
  void addCylinder(Cylinder *);
  /// Deletes a new cylinder to the cylinders in the world
  void delCylinder(Cylinder *);
  /// Adds a message to the air
  void addMessage(const char *data, unsigned long int size, Agent *agent){ messages.push_back(MessageAir(data,size,agent)); };

  /// Number of world owned cylinders 
  unsigned long int getNumCylinders(){ return cylinders.size(); };
  /// Get a world cylinder
  Cylinder *getCylinder(unsigned long int i){ return cylinders[i]; };

  /** 
   * @name Get some constant properties of the world
   * @{
   */
  /// Get the gravitation of this world
  static inline double getGravity(){ return gravity; };
  /// Get the linear drag coefficient of this world
  static inline double getLinearDragCoefficient(){ return linearDragCoefficient; };
  /// Get the angular drag coefficient of this world
  static inline double getAngularDragCoefficient(){ return angularDragCoefficient; };
  /// Get the coefficient of restitution of ground of this world
  static inline double getGroundRestitutionCoefficient(){ return groundRestitutionCoefficient; };
  /// Get the coefficient of friction of ground of this world
  static inline double getGroundFrictionCoefficient(){ return groundFrictionCoefficient; };
  /// Get the coefficient spring (glue)
  static inline double getSpringCoefficient(){ return springCoefficient; };
  /// Get the coefficient of damper (resistance to motion in glue)
  static inline double getDamperCoefficient(){ return damperCoefficient; };

  /** @} */
  /// Number of clients to wait for
  ost::AtomicCounter numClients;
};

#endif

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