//------------------------------------------------------------------------------
// 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);
}
}
}