//------------------------------------------------------------------------------
// munitionDetonationMsgFactory() -- (Output) Munition detonation message factory
//------------------------------------------------------------------------------
bool Nib::munitionDetonationMsgFactory(const double)
{
   std::cout << "rprfom::Nib::sendMunitionDetonation() HERE!!" << std::endl;

   // Early out -- we must be registered
   if (!isRegistered()) return false;

   NetIO* netIO = static_cast<NetIO*>(getNetIO());

   // Create the parameter/value set
   RTI::ParameterHandleValuePairSet* pParams =
      RTI::ParameterSetFactory::create( NetIO::NUM_INTERACTION_PARAMETER );

   // Set our mode so that we don't do this again.
   setMode(simulation::Player::DETONATED);

   // If our player just detonated, then it must be a weapon!
   simulation::Weapon* mPlayer = dynamic_cast<simulation::Weapon*>(getPlayer());
   if (mPlayer == nullptr) return false;   // Early out -- it wasn't a weapon

   // ---
   // Event ID
   // ---
   unsigned short fireEvent = getWeaponFireEvent();
   EventIdentifierStruct eventIdentifier;
   base::NetHandler::toNetOrder(&eventIdentifier.eventCount, fireEvent);
   base::utStrncpy(
      reinterpret_cast<char*>(&eventIdentifier.issuingObjectIdentifier.id[0]),
      sizeof(eventIdentifier.issuingObjectIdentifier.id),
      getObjectName(),
      RTIObjectIdStruct::ID_SIZE );    
   pParams->add(
      netIO->getInteractionParameterHandle(NetIO::EVENT_IDENTIFIER_MD_PI),
      reinterpret_cast<char*>(&eventIdentifier),
      sizeof(EventIdentifierStruct) );

   // ---
   // Location & Velocity
   // ---
   {
      osg::Vec3d geocPos = getDrPosition();
      osg::Vec3d geocVel = getDrVelocity();
      osg::Vec3d geocAcc = getDrAcceleration();

      // World Coordinates
      WorldLocationStruct detonationLocation;
      base::NetHandler::toNetOrder(&detonationLocation.x, geocPos[base::Nav::IX]);
      base::NetHandler::toNetOrder(&detonationLocation.y, geocPos[base::Nav::IY]);
      base::NetHandler::toNetOrder(&detonationLocation.z, geocPos[base::Nav::IZ]);
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::DETONATION_LOCATION_MD_PI), 
         reinterpret_cast<char*>(&detonationLocation), 
         sizeof(WorldLocationStruct) );

      // Velocity
      VelocityVectorStruct finalVelocityVector; 
      base::NetHandler::toNetOrder(&finalVelocityVector.xVelocity, static_cast<float>(geocVel[base::Nav::IX]));
      base::NetHandler::toNetOrder(&finalVelocityVector.yVelocity, static_cast<float>(geocVel[base::Nav::IY]));
      base::NetHandler::toNetOrder(&finalVelocityVector.zVelocity, static_cast<float>(geocVel[base::Nav::IZ]));
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::FINAL_VELOCITY_VECTOR_MD_PI), 
         reinterpret_cast<char*>(&finalVelocityVector), 
         sizeof(VelocityVectorStruct) );
   }

   // ---
   // Munition Object identifiers:
   // ---
   {
      RTIObjectIdStruct munitionObjectIdentifier;
      base::utStrncpy(
         reinterpret_cast<char*>(&munitionObjectIdentifier.id[0]),
         sizeof(munitionObjectIdentifier.id),
         getObjectName(),
         RTIObjectIdStruct::ID_SIZE );    
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::MUNITION_OBJECT_IDENTIFIER_MD_PI),
         reinterpret_cast<char*>(&munitionObjectIdentifier),
         sizeof(RTIObjectIdStruct) );
   }

   // ---
   // Firing Object identifier:
   //
   // Get the firing player and its NIB.
   //   First check to see if it's an IPlayer from an HLA network.
   //   If it's not, then check our output list.
   // ---
   {
      Nib* fNib = nullptr;
      simulation::Player* fPlayer = mPlayer->getLaunchVehicle();
      if (fPlayer != nullptr) {
         if (fPlayer->isNetworkedPlayer()) {
            fNib = dynamic_cast<Nib*>( fPlayer->getNib() );
         }
         else {
            fNib = dynamic_cast<Nib*>( netIO->findNib(fPlayer, simulation::NetIO::OUTPUT_NIB) );
         }
      }

      if (fNib != nullptr) {
         RTIObjectIdStruct firingObjectIdentifier;
         base::utStrncpy(
            reinterpret_cast<char*>(&firingObjectIdentifier.id[0]),
            sizeof(firingObjectIdentifier.id),
            fNib->getObjectName(),
            RTIObjectIdStruct::ID_SIZE );    
         pParams->add(
            netIO->getInteractionParameterHandle(NetIO::FIRING_OBJECT_IDENTIFIER_MD_PI),
            reinterpret_cast<char*>(&firingObjectIdentifier),
            sizeof(RTIObjectIdStruct) );
      }
   }

   // ---
   // Target Object identifier:
   //
   // Get the target player and its NIB.
   //   First check to see if it's an IPlayer from an HLA network.
   //   If it's not, then check our output list.
   // ---
   {
      Nib* tNib = nullptr;
      simulation::Player* tPlayer = mPlayer->getTargetPlayer();
      if (tPlayer != nullptr) {
         tNib = dynamic_cast<Nib*>( tPlayer->getNib() );
         if (tNib == nullptr)
            tNib = dynamic_cast<Nib*>( netIO->findNib(tPlayer, simulation::NetIO::OUTPUT_NIB) );
      }

      if (tNib != nullptr) {
         RTIObjectIdStruct targetObjectIdentifier;
         base::utStrncpy(
            reinterpret_cast<char*>(&targetObjectIdentifier.id[0]),
            sizeof(targetObjectIdentifier.id),
            tNib->getObjectName(),
            RTIObjectIdStruct::ID_SIZE );    
         pParams->add(
            netIO->getInteractionParameterHandle(NetIO::TARGET_OBJECT_IDENTIFIER_MD_PI),
            reinterpret_cast<char*>(&targetObjectIdentifier),
            sizeof(RTIObjectIdStruct) );
      }
   }

   // ---
   // Munition Type
   // ---
   {
      EntityTypeStruct munitionType;
      munitionType.entityKind = getEntityKind();
      munitionType.domain = getEntityDomain();
      base::NetHandler::toNetOrder(&munitionType.countryCode, getEntityCountry() );
      munitionType.category  = getEntityCategory();
      munitionType.subcategory = getEntitySubcategory();
      munitionType.specific   = getEntitySpecific();
      munitionType.extra  = getEntityExtra();
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::MUNITION_TYPE_MD_PI),
         reinterpret_cast<char*>(&munitionType),
         sizeof(EntityTypeStruct) );
   }

   // ---
   // Fuse Type (16 bit enum)
   // ---
   {
      FuseTypeEnum16 fuseType = FuseTypeOther;
      unsigned short netBuffer;
      base::NetHandler::toNetOrder(&netBuffer, static_cast<unsigned short>(fuseType) );
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::FUSE_TYPE_MD_PI),
         reinterpret_cast<char*>(&netBuffer),
         sizeof(unsigned short) );
   }

   // ---
   // Quantity fired
   // ---
   {
      unsigned short quantityFired = 1;
      unsigned short netBuffer;
      base::NetHandler::toNetOrder(&netBuffer, quantityFired );
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::QUANTITY_FIRED_MD_PI),
         reinterpret_cast<char*>(&netBuffer),
         sizeof(unsigned short) );
   }

   // ---
   // Rate Of Fire
   // ---
   {
      unsigned short rateOfFire = 0;
      unsigned short netBuffer;
      base::NetHandler::toNetOrder(&netBuffer, rateOfFire );
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::RATE_OF_FIRE_MD_PI),
         reinterpret_cast<char*>(&netBuffer),
         sizeof(unsigned short) );
   }

   // ---
   // Warhead type
   // ---
   {
      WarheadTypeEnum16 warheadType = WarheadTypeOther;
      unsigned short netBuffer;
      base::NetHandler::toNetOrder(&netBuffer, static_cast<unsigned short>(warheadType) );
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::WARHEAD_TYPE_MD_PI),
         reinterpret_cast<char*>(&netBuffer),
         sizeof(unsigned short) );
   }

   // ---
   // Relative detonation location
   // ---
   {
      RelativePositionStruct relativeDetonationLocation;
      relativeDetonationLocation.bodyXDistance = 0;
      relativeDetonationLocation.bodyYDistance = 0;
      relativeDetonationLocation.bodyZDistance = 0;

      RelativePositionStruct netBuffer;
      base::NetHandler::toNetOrder(&netBuffer.bodyXDistance, relativeDetonationLocation.bodyXDistance );
      base::NetHandler::toNetOrder(&netBuffer.bodyYDistance, relativeDetonationLocation.bodyYDistance );
      base::NetHandler::toNetOrder(&netBuffer.bodyZDistance, relativeDetonationLocation.bodyZDistance );
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::RELATIVE_DETONATION_LOCATION_MD_PI),
         reinterpret_cast<char*>(&netBuffer),
         sizeof(RelativePositionStruct) );
   }

   // ---
   // Detonation result code
   // ---
   {
      DetonationResultCodeEnum8 detonationResultCode;
      switch ( mPlayer->getDetonationResults() ) {
         case simulation::Weapon::DETONATE_OTHER :
            detonationResultCode = DetonationResultCodeOther;
            break;
         case simulation::Weapon::DETONATE_ENTITY_IMPACT :
            detonationResultCode = EntityImpact;
            break;
         case simulation::Weapon::DETONATE_ENTITY_PROXIMATE_DETONATION :
            detonationResultCode = EntityProximateDetonation;
            break;
         case simulation::Weapon::DETONATE_GROUND_IMPACT :
            detonationResultCode = GroundImpact;
            break;
         case simulation::Weapon::DETONATE_GROUND_PROXIMATE_DETONATION :
            detonationResultCode = GroundProximateDetonation;
            break;
         case simulation::Weapon::DETONATE_DETONATION :
            detonationResultCode = Detonation;
            break;
         case simulation::Weapon::DETONATE_NONE :
            detonationResultCode = None;
            break;
         default :
            detonationResultCode = DetonationResultCodeOther;
            break;
      };

      unsigned char netBuffer = static_cast<unsigned char>(detonationResultCode);
      pParams->add(
         netIO->getInteractionParameterHandle(NetIO::DETONATION_RESULT_CODE_MD_PI),
         reinterpret_cast<char*>(&netBuffer),
         sizeof(unsigned char) );
   }

   // ---
   // Send the interaction
   // ---
   bool ok = netIO->sendInteraction(
      netIO->getInteractionClassHandle(NetIO::MUNITION_DETONATION_INTERACTION), pParams );

   // don't need this anymore
   delete pParams;

   return ok;
}
Beispiel #2
0
//------------------------------------------------------------------------------
// weaponFireMsgFactory() -- (Output support) Weapon fire message factory
//------------------------------------------------------------------------------
bool Nib::weaponFireMsgFactory(const LCreal)
{
    bool ok = true;
    //std::cout << "NetIO::weaponFireMsgFactory() HERE!!" << std::endl;

    // Get our NetIO
    NetIO* disIO = (NetIO*)(getNetIO());
    //Simulation* sim = disIO->getSimulation();

    // Set the NIB mode so that we don't do this again.
    setMode(Simulation::Player::ACTIVE);
    
    // Our NIB's player is a weapon that just became active
    Simulation::Weapon* mPlayer = (Simulation::Weapon*)(getPlayer());

    // Ok, we have the weapon, now get the firing and target players
    Simulation::Player* tPlayer = mPlayer->getTargetPlayer();
    Simulation::Player* fPlayer = mPlayer->getLaunchVehicle();
    if (fPlayer == 0) return false;

    // ---
    // PDU header 
    // ---
    FirePDU pdu;
    pdu.header.protocolVersion = disIO->getVersion();
    pdu.header.exerciseIdentifier = disIO->getExerciseID();
    pdu.header.PDUType = NetIO::PDU_FIRE;
    pdu.header.protocolFamily = NetIO::PDU_FAMILY_WARFARE;
    pdu.header.timeStamp = disIO->timeStamp();
    pdu.header.length = sizeof(FirePDU);
    
    // ---
    // Set the PDU data with the firing (launcher) player's id
    // ---
    pdu.firingEntityID.ID = fPlayer->getID();
    pdu.firingEntityID.simulationID.siteIdentification = disIO->getSiteID();
    pdu.firingEntityID.simulationID.applicationIdentification = disIO->getApplicationID();
    
    // ---
    // Set the PDU data with the munition's ID
    // ---
    pdu.munitionID.ID = mPlayer->getID();
    pdu.munitionID.simulationID.siteIdentification = disIO->getSiteID();
    pdu.munitionID.simulationID.applicationIdentification = disIO->getApplicationID();
    
    // ---
    // Set the PDU data with the target's ID
    // ---
    {
      bool tOk = false;
      if (tPlayer != 0) {
         pdu.targetEntityID.ID = tPlayer->getID();
         if (tPlayer->isLocalPlayer()) {
            // Local player, use our site/app/exerc IDs
            pdu.targetEntityID.simulationID.siteIdentification = disIO->getSiteID();
            pdu.targetEntityID.simulationID.applicationIdentification = disIO->getApplicationID();
            tOk = true;
         }
         else {
            const Nib* fNIB = dynamic_cast<const Nib*>( tPlayer->getNib() );
            if (fNIB != 0) {
               // Networked player, use it's NIB's IDs
               pdu.targetEntityID.simulationID.siteIdentification = fNIB->getSiteID();
               pdu.targetEntityID.simulationID.applicationIdentification = fNIB->getApplicationID();
               tOk = true;
            }
         }
      }
      if (!tOk) {
         // Networked player, use it's NIB's IDs
         pdu.targetEntityID.ID = 0;
         pdu.targetEntityID.simulationID.siteIdentification = 0;
         pdu.targetEntityID.simulationID.applicationIdentification = 0;
      }
    }
    
    // ---
    // Event ID
    // ---
    pdu.eventID.simulationID.siteIdentification = disIO->getSiteID();
    pdu.eventID.simulationID.applicationIdentification = disIO->getApplicationID();
    pdu.eventID.eventNumber = mPlayer->getReleaseEventID();

    // ---
    // Location & Velociy
    // ---

    // World Coordinates
    osg::Vec3d geocPos = mPlayer->getGeocPosition();
    pdu.location.X_coord = geocPos[Basic::Nav::IX];
    pdu.location.Y_coord = geocPos[Basic::Nav::IY];
    pdu.location.Z_coord = geocPos[Basic::Nav::IZ];

    // Velocity
    osg::Vec3d geocVel = mPlayer->getGeocVelocity();
    pdu.velocity.component[0] = (float)geocVel[Basic::Nav::IX];
    pdu.velocity.component[1] = (float)geocVel[Basic::Nav::IY];
    pdu.velocity.component[2] = (float)geocVel[Basic::Nav::IZ];

    // ---
    // Burst
    // ---
    pdu.burst.munision.kind         = getEntityKind();
    pdu.burst.munision.domain       = getEntityDomain();
    pdu.burst.munision.country      = getEntityCountry();
    pdu.burst.munision.category     = getEntityCategory();
    pdu.burst.munision.subcategory  = getEntitySubcategory();
    pdu.burst.munision.specific     = getEntitySpecific();
    pdu.burst.munision.extra        = getEntityExtra();
    pdu.burst.warhead = 0;
    pdu.burst.fuse = 0;;
    pdu.burst.quantity = 1;
    pdu.burst.rate = 0;

    // ---
    // Range and fire index
    // ---
    pdu.fireMissionIndex = 0;
    pdu.range = 0.0;

    //pdu.dumpData();
    //std::cout << "NetIO::weaponFireMsgFactory() fired:";
    //std::cout << "(" << pdu.firingEntityID.ID;
    //std::cout << "," << pdu.firingEntityID.simulationID.applicationIdentification ;
    //std::cout << "," << pdu.firingEntityID.simulationID.siteIdentification;
    //std::cout << ")   munision:";
    //std::cout << "(" << pdu.munitionID.ID;
    //std::cout << "," << pdu.munitionID.simulationID.applicationIdentification ;
    //std::cout << "," << pdu.munitionID.simulationID.siteIdentification;
    //std::cout << ")" << std::endl;

    if (Basic::NetHandler::isNotNetworkByteOrder()) pdu.swapBytes();
    ok = disIO->sendData((char*)&pdu,sizeof(pdu));

    return ok;
}    
//------------------------------------------------------------------------------
// munitionDetonationMsgFactory() -- (Output) Munition detonation message factory
//------------------------------------------------------------------------------
bool Nib::munitionDetonationMsgFactory(const LCreal)
{
   // Dummy weapon?
   const Simulation::Weapon* ww = dynamic_cast<const Simulation::Weapon*>( getPlayer() );
   if (ww != 0) {
      if (ww->isDummy()) return true;
   }

    bool ok = true;
    //std::cout << "NetIO::munitionDetonationMsgFactory() HERE!!" << std::endl;

    // Get our NetIO
    NetIO* disIO = (NetIO*)(getNetIO());

    // If our NIB's player just detonated, then it must be a weapon!
    Simulation::Weapon* mPlayer = dynamic_cast<Simulation::Weapon*>(getPlayer());
    if (mPlayer == 0) return false;

    // Ok, we have the weapon, now get the firing and target players
    Simulation::Player* tPlayer = mPlayer->getTargetPlayer();
    Simulation::Player* fPlayer = mPlayer->getLaunchVehicle();
    if (fPlayer == 0) return false;

    // ---
    // PDU header
    // ---
    DetonationPDU pdu;
    pdu.header.protocolVersion = disIO->getVersion();
    pdu.header.PDUType = NetIO::PDU_DETONATION;
    pdu.header.protocolFamily = NetIO::PDU_FAMILY_WARFARE;
    pdu.header.length = sizeof(DetonationPDU);
    pdu.header.exerciseIdentifier = disIO->getExerciseID();
    pdu.header.timeStamp = disIO->timeStamp();
    pdu.header.status = 0;
    pdu.header.padding = 0;

    // ---
    // Set the PDU data with the firing (launcher) player's id
    // ---
    pdu.firingEntityID.ID = fPlayer->getID();
    pdu.firingEntityID.simulationID.siteIdentification = getSiteID();
    pdu.firingEntityID.simulationID.applicationIdentification = getApplicationID();

    // ---
    // Set the PDU data with the munition's ID
    // ---
    pdu.munitionID.ID = mPlayer->getID();
    pdu.munitionID.simulationID.siteIdentification = getSiteID();
    pdu.munitionID.simulationID.applicationIdentification = getApplicationID();

    // ---
    // Set the PDU data with the target's ID
    // ---
    {
         bool tOk = false;
         if (tPlayer != 0) {
            pdu.targetEntityID.ID = tPlayer->getID();
            if (tPlayer->isLocalPlayer()) {
               // Local player, use our site/app/exerc IDs
               pdu.targetEntityID.simulationID.siteIdentification = getSiteID();
               pdu.targetEntityID.simulationID.applicationIdentification = getApplicationID();
               tOk = true;
            }
            else {
               // Networked player, use its NIB's IDs
               const Nib* fNIB = dynamic_cast<const Nib*>( tPlayer->getNib() );
               if (fNIB != 0) {
                  pdu.targetEntityID.simulationID.siteIdentification = fNIB->getSiteID();
                  pdu.targetEntityID.simulationID.applicationIdentification = fNIB->getApplicationID();
                  tOk = true;
               }
            }
         }
         if (!tOk) {
            pdu.targetEntityID.ID = 0;
            pdu.targetEntityID.simulationID.siteIdentification = 0;
            pdu.targetEntityID.simulationID.applicationIdentification = 0;
         }
    }

    // ---
    // Event ID
    // ---
    pdu.eventID.simulationID.siteIdentification = getSiteID();
    pdu.eventID.simulationID.applicationIdentification = getApplicationID();
    pdu.eventID.eventNumber = mPlayer->getReleaseEventID();

    // ---
    // Location & Velocity
    // ---

    // World Coordinates
    osg::Vec3d geocPos = mPlayer->getGeocPosition();
    pdu.location.X_coord = geocPos[Basic::Nav::IX];
    pdu.location.Y_coord = geocPos[Basic::Nav::IY];
    pdu.location.Z_coord = geocPos[Basic::Nav::IZ];

    // Velocity
    osg::Vec3d geocVel = mPlayer->getGeocVelocity();
    pdu.velocity.component[0] = (float)geocVel[Basic::Nav::IX];
    pdu.velocity.component[1] = (float)geocVel[Basic::Nav::IY];
    pdu.velocity.component[2] = (float)geocVel[Basic::Nav::IZ];

    // ---
    // Burst
    // ---
    pdu.burst.munition.kind         = getEntityKind();
    pdu.burst.munition.domain       = getEntityDomain();
    pdu.burst.munition.country      = getEntityCountry();
    pdu.burst.munition.category     = getEntityCategory();
    pdu.burst.munition.subcategory  = getEntitySubcategory();
    pdu.burst.munition.specific     = getEntitySpecific();
    pdu.burst.munition.extra        = getEntityExtra();
    pdu.burst.warhead = 0;
    pdu.burst.fuse = 0;;
    pdu.burst.quantity = 1;
    pdu.burst.rate = 0;

    // ---
    // Location
    // ---
    osg::Vec3 lpos = mPlayer->getDetonationLocation();
    pdu.locationInEntityCoordinates.component[0] = (float) lpos[0];
    pdu.locationInEntityCoordinates.component[1] = (float) lpos[1];
    pdu.locationInEntityCoordinates.component[2] = (float) lpos[2];

    // ---
    // Results
    // ---
    pdu.detonationResult = (unsigned char)( mPlayer->getDetonationResults() );
    pdu.numberOfArticulationParameters = 0;

    //std::cout << "NetIO::munitionDetonationMsgFactory() results: " << int(pdu.detonationResult) << std::endl;
    //pdu.dumpData();

    // ---
    // Send the PDU
    // ---
    if (Basic::NetHandler::isNotNetworkByteOrder()) pdu.swapBytes();
    ok = disIO->sendData((char*)&pdu,sizeof(pdu));

    // Set the detonation message sent flag so that we don't do this again.
    setDetonationMessageSent(true);

    return ok;
}
//------------------------------------------------------------------------------
// entityStateManager() --  (Output support)
//    -- Update the entity object for this NIB(Player)
//------------------------------------------------------------------------------
bool Nib::entityStateManager(const LCreal curExecTime)
{
   bool ok = false;

   // Get the player pointer
   const Simulation::Player* player = getPlayer();
   if (player == nullptr) return ok;

   // Dummy weapon?
   const Simulation::Weapon* ww = dynamic_cast<const Simulation::Weapon*>( player );
   if (ww != nullptr) {
      if (ww->isDummy()) return ok;
   }

   if (isPlayerStateUpdateRequired(curExecTime)) {

      //
      // Send an entity state PDU
      //   1) create buffer
      //   2) set state information
      //   3) send data
      //

      // Get our NetIO and the main simulation
      NetIO* disIO = static_cast<NetIO*>(getNetIO());
      Simulation::Simulation* sim = disIO->getSimulation();

      // Capture the player data, reset the dead reckoning and
      // mark the current time.
      playerState2Nib();

      // ---
      // Create buffer and cast it as an entity state PDU
      // ---
      char pduBuffer[NetIO::MAX_PDU_SIZE];
      EntityStatePDU* pdu = (EntityStatePDU*) &pduBuffer[0];

      //
      // Entity state PDU structure
      // =========================================================
      // PDUHeader            header;
      // EntityIdentifierDIS  entityID;
      // uint8_t              forceID;
      // uint8_t              numberOfArticulationParameters;
      // EntityType           entityType;
      // EntityType           alternativeType;
      // VectorDIS            entityLinearVelocity;
      // WorldCoordinates     entityLocation;
      // EulerAngles          entityOrientation;
      // uint32_t             appearance;
      // uint8_t              deadReckoningAlgorithm;
      // uint8_t              otherParameters[15];
      // VectorDIS            DRentityLinearAcceleration;
      // AngularVelocityVectorDIS DRentityAngularVelocity;
      // EntityMarking        entityMarking;
      // uint32_t             capabilities;
      // =========================================================
      //

      // ---
      // Standard header (PDUHeader)
      // ---
      pdu->header.protocolVersion = disIO->getVersion();
      pdu->header.exerciseIdentifier = disIO->getExerciseID();
      pdu->header.PDUType = NetIO::PDU_ENTITY_STATE;
      pdu->header.protocolFamily = NetIO::PDU_FAMILY_ENTITY_INFO;
      //
      if (disIO->getTimeline() == Simulation::NetIO::UTC)
         pdu->header.timeStamp = disIO->makeTimeStamp( getTimeUtc(), true );
      else
         pdu->header.timeStamp = disIO->makeTimeStamp( getTimeExec(), false );
      //
      pdu->header.status = 0;
      pdu->header.padding = 0;

      // ---
      // Entity ID (EntityIdentifierID)
      // ---
      pdu->entityID.simulationID.siteIdentification = getSiteID();
      pdu->entityID.simulationID.applicationIdentification = getApplicationID();
      pdu->entityID.ID = getPlayerID();

      // ---
      // Force ID: When mapping Player side to force IDs ...
      // ---
      if (getSide() == Simulation::Player::BLUE) {
         // blue's are friendly, ...
         pdu->forceID = NetIO::FRIENDLY_FORCE;
      }
      else if (getSide() == Simulation::Player::RED) {
         // red's are not, ...
         pdu->forceID = NetIO::OPPOSING_FORCE;
      }
      else if (getSide() == Simulation::Player::WHITE) {
         // white is neutral, ...
         pdu->forceID = NetIO::NEUTRAL_FORCE;
      }
      else {
         // and everyone else is type OTHER.
         pdu->forceID = NetIO::OTHER_FORCE;
      }

      // ---
      // Entity type (EntityType)
      // ---
      pdu->entityType.kind                 = getEntityKind();
      pdu->entityType.domain               = getEntityDomain();
      pdu->entityType.country              = getEntityCountry();
      pdu->entityType.category             = getEntityCategory();
      pdu->entityType.subcategory          = getEntitySubcategory();
      pdu->entityType.specific             = getEntitySpecific();
      pdu->entityType.extra                = getEntityExtra();
      // ---
      // Alternative type (EntityType)
      // ---
      pdu->alternativeType.kind            = getEntityKind();
      pdu->alternativeType.domain          = getEntityDomain();
      pdu->alternativeType.country         = getEntityCountry();
      pdu->alternativeType.category        = getEntityCategory();
      pdu->alternativeType.subcategory     = getEntitySubcategory();
      pdu->alternativeType.specific        = getEntitySpecific();
      pdu->alternativeType.extra           = getEntityExtra();

      // ---
      // Player position and orientation state data data
      // 1) All data is geocentric (ECEF)
      // 2) The playerState2Nib() function, which was called above, captures
      //    the state data and passed the state data to the dead reckoning
      //    system, and we're using this DR captured data.
      // ---
      {
         // ---
         // Entity linear velocity (VectorDIS)
         // ---
         osg::Vec3d geocVel = getDrVelocity();
         pdu->entityLinearVelocity.component[0] = static_cast<float>(geocVel[0]);
         pdu->entityLinearVelocity.component[1] = static_cast<float>(geocVel[1]);
         pdu->entityLinearVelocity.component[2] = static_cast<float>(geocVel[2]);

         // ---
         // Entity location (WorldCoordinates)
         // ---
         osg::Vec3d geocPos = getDrPosition();
         pdu->entityLocation.X_coord = geocPos[Basic::Nav::IX];
         pdu->entityLocation.Y_coord = geocPos[Basic::Nav::IY];
         pdu->entityLocation.Z_coord = geocPos[Basic::Nav::IZ];

         // ---
         // Entity orientation (EulerAngles)
         // ---
         osg::Vec3d geocAngles = getDrEulerAngles();
         pdu->entityOrientation.phi   = static_cast<float>(geocAngles[Basic::Nav::IPHI]);
         pdu->entityOrientation.theta = static_cast<float>(geocAngles[Basic::Nav::ITHETA]);
         pdu->entityOrientation.psi   = static_cast<float>(geocAngles[Basic::Nav::IPSI]);
      }

      // ---
      // Appearance bits generic to all domains (except munitions)
      // ---
      {
         pdu->appearance = 0x0;

         // ---
         // Frozen?
         // ---
         if ( isFrozen() || sim->isFrozen() ) {
            pdu->appearance |= FROZEN_BIT;
         }

         // Deactive this entity?
         {
            if (isMode(Simulation::Player::DELETE_REQUEST) || player->isDead() )
               pdu->appearance |= DEACTIVATE_BIT;
         }


         // Damage or health?  (Bits 3-4)
         {
            unsigned int bits = 0;
            if (getDamage() > 0.9f) bits = 3;       // Destroyed or Fatality
            else if (getDamage() > 0.5) bits = 2;   // Moderate
            else if (getDamage() > 0.0) bits = 1;   // Slight
            else bits = 0;                          // None
            pdu->appearance |= (bits << 3);
         }


         // Camouflage type
         // Note: air platform appearance bits 17 and 18 are not used, but we're using them the same as land platforms
         {
            unsigned int bits = getCamouflageType();
            if (bits > 0 && bits <= 4) {
               pdu->appearance |= CAMOUFLAGE_BIT;

               // Land based camouflage bits
               if (player->isMajorType(Simulation::Player::GROUND_VEHICLE)) {
                  // Subtract one to match DIS camouflage bits.
                  // Our camouflage type for DIS is the camouflage appearance bits
                  // plus one because our camouflage type of zero is no camouflage.
                  bits--;
                  pdu->appearance |= (bits << 17);
               }
            }
         }

         // Life forms appearance bits
         if (player->isMajorType(Simulation::Player::LIFE_FORM)) {
            const Simulation::LifeForm* lf = dynamic_cast<const Simulation::LifeForm*>(player);
            if (lf != nullptr) {
               // Health (aka damaged for other domains) same bits (3-4) - this is from the NIB, because it IS
               // updated
               // bits 5-8 compliance (not implemented)
               // bits 9 - 11 unused
               // bit 12 flashlight (not implemented)
               // bits 13-15 unused
               // bits 16 - 19 life form state
               // data is from the player, because NIB doesn't have actions associated with it
               {
                  unsigned int bits = 1;      // upright, standing still
                  if (lf->getActionState() == Simulation::LifeForm::UPRIGHT_STANDING) bits = 1;       // standing
                  else if (lf->getActionState() == Simulation::LifeForm::UPRIGHT_WALKING) bits = 2;   // walking
                  else if (lf->getActionState() == Simulation::LifeForm::UPRIGHT_RUNNING) bits = 3;   // running
                  else if (lf->getActionState() == Simulation::LifeForm::KNEELING) bits = 4;          // kneeling
                  else if (lf->getActionState() == Simulation::LifeForm::PRONE) bits = 5;             // prone
                  else if (lf->getActionState() == Simulation::LifeForm::CRAWLING) bits = 6;          // crawling
                  else if (lf->getActionState() == Simulation::LifeForm::SWIMMING) bits = 7;          // swimming
                  else if (lf->getActionState() == Simulation::LifeForm::PARACHUTING) bits = 8;       // parachuting
                  else if (lf->getActionState() == Simulation::LifeForm::JUMPING) bits = 9;           // jumping
                  else if (lf->getActionState() == Simulation::LifeForm::SITTING) bits = 10;          // sitting
                  else if (lf->getActionState() == Simulation::LifeForm::SQUATTING) bits = 11;        // squatting
                  else if (lf->getActionState() == Simulation::LifeForm::CROUCHING) bits = 12;        // crouching
                  else if (lf->getActionState() == Simulation::LifeForm::WADING) bits = 13;           // wading
                  else if (lf->getActionState() == Simulation::LifeForm::SURRENDER) bits = 14;        // surrender
                  else if (lf->getActionState() == Simulation::LifeForm::DETAINED) bits = 15;         // detained
                  else bits = 1;
                  pdu->appearance |= (bits << 16);
               }
               // bit 20 unused
               // bit 21 frozen status (taken care of above)
               // bits 24 - 25 weapon 1 (not implemented)
               // bits 26-27 weapon 2 (N/I)
               // bits 28-29
            }
         }

         // Common Non-life form appearance bits
         else {

            // Smoking?  (Bits 5-6) Standard (IST-CF-03-01, May 5, 2003)
            {
               unsigned int bits = 0;
               if (getSmoke() > 0.9f) bits = 3;
               else if (getSmoke() > 0.5) bits = 2;
               else if (getSmoke() > 0.0) bits = 1;
               else bits = 0;
               pdu->appearance |= (bits << 5);
            }

            // Flames? (Bit 15) Standard (IST-CF-03-01, May 5, 2003)
            {
               if (getFlames() > 0.5f)
                  pdu->appearance |= FLAMES_BIT;
            }

            // Power plant status bit (just leave ON for now)
            pdu->appearance |= POWER_PLANT_BIT;
         }


      }

      // ---
      // Dead reckoning algorithm
      // ---
      pdu->deadReckoningAlgorithm = static_cast<unsigned char>(getDeadReckoning());

      // ---
      // Other parameters
      // ---
      for (unsigned int i=0; i<15; i++) {
          pdu->otherParameters[i] = 0;
      }

      // ---
      // Dead reckoning information
      // ---
      {
         // ---
         // Dead reckoning linear acceleration (VectorDIS)
         // ---
         osg::Vec3d geocAcc = getDrAcceleration();
         pdu->DRentityLinearAcceleration.component[0] = static_cast<float>(geocAcc[0]);
         pdu->DRentityLinearAcceleration.component[1] = static_cast<float>(geocAcc[1]);
         pdu->DRentityLinearAcceleration.component[2] = static_cast<float>(geocAcc[2]);

         // ---
         // Dead reckoning angular velocity (AngularVelocityVectorDIS)
         // ---
         osg::Vec3d geocAngVel = getDrAngularVelocities();
         pdu->DRentityAngularVelocity.x_axis = static_cast<float>(geocAngVel[Basic::Nav::IX]);
         pdu->DRentityAngularVelocity.y_axis = static_cast<float>(geocAngVel[Basic::Nav::IY]);
         pdu->DRentityAngularVelocity.z_axis = static_cast<float>(geocAngVel[Basic::Nav::IZ]);
      }

      // ---
      // Entity marking (EntityMarking)
      // ---
      {
         const char* const pName = getPlayerName();
         size_t nameLen = std::strlen(pName);
         for (unsigned int i = 0; i < EntityMarking::BUFF_SIZE; i++) {
            if (i < nameLen) {
               pdu->entityMarking.marking[i] = pName[i];
            }
            else {
               pdu->entityMarking.marking[i] = '\0';
            }
         }
         pdu->entityMarking.characterSet = 1;
      }

      // ---
      // Capabilities
      // ---
      pdu->capabilites = 0x0;

      // ---
      // Articulation parameters
      // ---
      pdu->numberOfArticulationParameters = manageArticulationParameters(pdu);

      // Size of the PDU package
      unsigned short length = sizeof(EntityStatePDU) + (pdu->numberOfArticulationParameters * sizeof(VpArticulatedPart));
      pdu->header.length = length;

      if (Basic::NetHandler::isNotNetworkByteOrder()) pdu->swapBytes();
      ok = disIO->sendData( reinterpret_cast<char*>(pdu), length );
   }
   return ok;
}
//------------------------------------------------------------------------------
// updateBasicEntity() -- (Output support)
//    -- sets the BasicEntity attribute values that need to be updated
//
//    -- We send all published BasicEntity attributes every time.
//
//       The function isPlayerStateUpdateRequired() checking if the player's state
//       needs to be resent.  Therefore, we're not check the individual update
//       required flags with isAttributeUpdateRequired(), but we do clear them
//       with setAttributeUpdateRequiredFlag().
//
//   (Also handles the host to network byte swapping)
//------------------------------------------------------------------------------
void Nib::updateBasicEntity(
         RTI::AttributeHandleValuePairSet* attrs, 
         const double)
{
   if (baseEntity != nullptr) {
      // Our handler 
      NetIO* netIO = static_cast<NetIO*>(getNetIO());

      // Our simulation
      simulation::Simulation* ourSim = netIO->getSimulation();

      // Get the player data
      playerState2Nib();

      // Entity ID
      if (isAttributeUpdateEnabled(NetIO::ENTITY_IDENTIFIER_AI)) {
         EntityIdentifierStruct* entityId = &baseEntity->entityIdentifier;
         entityId->federateIdentifier.siteID = getSiteID();
         entityId->federateIdentifier.applicationID = getApplicationID();
         entityId->entityNumber = getPlayerID();
         //std::cout << "Send Federate ID: (" << entityId->entityNumber << "," << entityId->federateIdentifier.applicationID << "," << entityId->federateIdentifier.siteID << ")" << std::endl;

         EntityIdentifierStruct netBuffer;
         base::NetHandler::toNetOrder(&netBuffer.federateIdentifier.applicationID, entityId->federateIdentifier.applicationID );
         base::NetHandler::toNetOrder(&netBuffer.federateIdentifier.siteID, entityId->federateIdentifier.siteID );
         base::NetHandler::toNetOrder(&netBuffer.entityNumber, entityId->entityNumber );
         attrs->add(netIO->getObjectAttributeHandle(
               NetIO::ENTITY_IDENTIFIER_AI),
               reinterpret_cast<char*>(&netBuffer),
               sizeof(EntityIdentifierStruct)
            );

         setAttributeUpdateRequiredFlag(NetIO::ENTITY_IDENTIFIER_AI, false);
      }

      // Entity Type
      if (isAttributeUpdateEnabled(NetIO::ENTITY_TYPE_AI)) {

         EntityTypeStruct* entityType = &baseEntity->entityType;
         entityType->entityKind   = getEntityKind();
         entityType->domain       = getEntityDomain();
         entityType->countryCode  = getEntityCountry();
         entityType->category     = getEntityCategory();
         entityType->subcategory  = getEntitySubcategory();
         entityType->specific     = getEntitySpecific();
         entityType->extra        = getEntityExtra();

         // Network byte order: all bytes except country code which is unsigned short.
         EntityTypeStruct netBuffer = *entityType;
         base::NetHandler::toNetOrder(&netBuffer.countryCode, entityType->countryCode );
         attrs->add(netIO->getObjectAttributeHandle(
               NetIO::ENTITY_TYPE_AI),
               reinterpret_cast<char*>(&netBuffer),
               sizeof(EntityTypeStruct)
            );

         setAttributeUpdateRequiredFlag(NetIO::ENTITY_TYPE_AI, false);
      }

      // Spatial Structure
      if (isAttributeUpdateEnabled(NetIO::SPATIAL_AI)) {

         osg::Vec3d pos = getDrPosition();
         osg::Vec3d vel = getDrVelocity();
         osg::Vec3d accel = getDrAcceleration();
         osg::Vec3d angles = getDrEulerAngles();
         osg::Vec3d arates = getDrAngularVelocities();

         // NIB's base entity structures
         SpatialStruct* spatial = &(baseEntity->spatial);
         SpatialRVStruct* spatialRvw = &(baseEntity->spatialRvw);

         // Net order buffer (used to send the attribute to the RTI)
         const unsigned int SPATIAL_NET_BUFFER_SIZE = sizeof(SpatialStruct) + sizeof(SpatialRVStruct);
         unsigned char netBuffer[SPATIAL_NET_BUFFER_SIZE];

         SpatialStruct* netSpatial = reinterpret_cast<SpatialStruct*>(&netBuffer[0]);
         SpatialRVStruct* netSpatialRvw = reinterpret_cast<SpatialRVStruct*>(&netBuffer[sizeof(SpatialStruct)]);

         // Ref Position 
         double refLat = 0.0;
         double refLon = 0.0;
         if (ourSim != nullptr) {
            refLat = ourSim->getRefLatitude();
            refLon = ourSim->getRefLongitude();
         }

         // Convert position vector to Lat/Lon/Alt
         double alt = 0.0;
         double simCoord[3] = { 0.0, 0.0, 0.0 };
         base::Nav::convertPosVec2LL(
               refLat, refLon, 
               pos,
               &simCoord[base::Nav::ILAT], &simCoord[base::Nav::ILON], &alt
            );
         simCoord[base::Nav::IALT] = alt;

         //std::cout << "RprFom::Nib::entityState2Nib(): simCoord(" << simCoord[Basic::Nav::ILAT] << "," << simCoord[Basic::Nav::ILON] << "," << simCoord[Basic::Nav::IALT] << ")"  << std::endl;

         // Convert to geocentric coordinates
         double geocPos[3] = { 0.0, 0.0, 0.0 };
         double geocVel[3] = { 0.0, 0.0, 0.0 };
         double geocAcc[3] = { 0.0, 0.0, 0.0 };
         base::Nav::getWorldPosAccVel(simCoord, vel.ptr(), accel.ptr(), geocPos, geocVel, geocAcc);

         // Dead reckoning algorithm
         {
            spatial->deadReckoningAlgorithm = DRM_RVW;

            netSpatial->deadReckoningAlgorithm = spatial->deadReckoningAlgorithm;
         }

         // Is Frozen?
         {
            bool simFrz = false;
            if (ourSim != nullptr) simFrz = ourSim->isFrozen();
            if (isFrozen() || simFrz) spatialRvw->isFrozen = RTI::RTI_TRUE;  // Is this object or the simulation frozen?
            else spatialRvw->isFrozen = RTI::RTI_FALSE;

            netSpatialRvw->isFrozen = spatialRvw->isFrozen;
         }

         // World Location
         {
            WorldLocationStruct* worldLocation = &spatialRvw->worldLocation;
            WorldLocationStruct* netWorldLocation = &netSpatialRvw->worldLocation;

            worldLocation->x = geocPos[base::Nav::IX];
            worldLocation->y = geocPos[base::Nav::IY];
            worldLocation->z = geocPos[base::Nav::IZ];

            base::NetHandler::toNetOrder(&netWorldLocation->x, worldLocation->x);
            base::NetHandler::toNetOrder(&netWorldLocation->y, worldLocation->y);
            base::NetHandler::toNetOrder(&netWorldLocation->z, worldLocation->z);
         }

         // Velocity vector
         {
            VelocityVectorStruct* velocityVector = &spatialRvw->velocityVector;
            VelocityVectorStruct* netVelocityVector = &netSpatialRvw->velocityVector;

            velocityVector->xVelocity = static_cast<RTI::Float>(geocVel[base::Nav::IX]);
            velocityVector->yVelocity = static_cast<RTI::Float>(geocVel[base::Nav::IY]);
            velocityVector->zVelocity = static_cast<RTI::Float>(geocVel[base::Nav::IZ]);

            base::NetHandler::toNetOrder(&netVelocityVector->xVelocity, velocityVector->xVelocity);
            base::NetHandler::toNetOrder(&netVelocityVector->yVelocity, velocityVector->yVelocity);
            base::NetHandler::toNetOrder(&netVelocityVector->zVelocity, velocityVector->zVelocity);
         }

         // Acceleration vector
         {
            AccelerationVectorStruct* accelerationVector = &spatialRvw->accelerationVector;
            AccelerationVectorStruct* netAccelerationVector = &netSpatialRvw->accelerationVector;

            accelerationVector->xAcceleration = static_cast<RTI::Float>(geocAcc[base::Nav::IX]);
            accelerationVector->yAcceleration = static_cast<RTI::Float>(geocAcc[base::Nav::IY]);
            accelerationVector->zAcceleration = static_cast<RTI::Float>(geocAcc[base::Nav::IZ]);

            base::NetHandler::toNetOrder(&netAccelerationVector->xAcceleration, accelerationVector->xAcceleration);
            base::NetHandler::toNetOrder(&netAccelerationVector->yAcceleration, accelerationVector->yAcceleration);
            base::NetHandler::toNetOrder(&netAccelerationVector->zAcceleration, accelerationVector->zAcceleration);
         }

         // Orientation
         {
            OrientationStruct* orientation = &spatialRvw->orientation;
            OrientationStruct* netOrientation = &netSpatialRvw->orientation;

            // Convert Euler angles to geocentric angles
            double geocAngles[3] = { 0.0, 0.0, 0.0 };
            base::Nav::getGeocAngle(simCoord, angles.ptr(), geocAngles);

            orientation->phi   = static_cast<RTI::Float>(geocAngles[base::Nav::IPHI]);
            orientation->theta = static_cast<RTI::Float>(geocAngles[base::Nav::ITHETA]);
            orientation->psi   = static_cast<RTI::Float>(geocAngles[base::Nav::IPSI]);

            base::NetHandler::toNetOrder(&netOrientation->phi, orientation->phi);
            base::NetHandler::toNetOrder(&netOrientation->theta, orientation->theta);
            base::NetHandler::toNetOrder(&netOrientation->psi, orientation->psi);
         }

         // Angular velocity vector (all zeros for now)
         {
            AngularVelocityVectorStruct* angularVelocityVector = &spatialRvw->angularVelocity;
            AngularVelocityVectorStruct* netAngularVelocityVector = &netSpatialRvw->angularVelocity;

            angularVelocityVector->xAngularVelocity = 0;
            angularVelocityVector->yAngularVelocity = 0;
            angularVelocityVector->zAngularVelocity = 0;

            base::NetHandler::toNetOrder(&netAngularVelocityVector->xAngularVelocity, angularVelocityVector->xAngularVelocity);
            base::NetHandler::toNetOrder(&netAngularVelocityVector->yAngularVelocity, angularVelocityVector->yAngularVelocity);
            base::NetHandler::toNetOrder(&netAngularVelocityVector->zAngularVelocity, angularVelocityVector->zAngularVelocity);
         }

         attrs->add(
               netIO->getObjectAttributeHandle(NetIO::SPATIAL_AI),
               reinterpret_cast<char*>(&netBuffer),
               SPATIAL_NET_BUFFER_SIZE
            );

         setAttributeUpdateRequiredFlag(NetIO::SPATIAL_AI, false);
      }
   }
}