Simple CGF (simpleCGF)

The Simple CGF example demonstrates the following:

• How to create a CGF
• How to create objects within this CGF

A CGF application differs from the released back-end in that there is not command line options applied to it and it is intended to be used as part of a larger back-end application that does not have a need to interface with the VR-Forces front-end.

How to Run the Example

This example demonstrates how to create a simple CGF application (outside of the context of the vrfSim application). It shows how to create an embedded CGF in an non-VR-Forces application.

Usage

(Release) simpleCgf

(Debug) simpleCgfd

To run the application:

1. Open an command line and switch to the VR-Forces "bin" directory.
2. Start the VR-Forces GUI using the command "vrfLauncher –usePredefinedConnection DIS -F"
3. Open the userData/terrains/Ground-db.mtf terrain database.
4. Start simpleCgf from the command line as "simpleCGFDIS"

The simpleCgf application simulates a tank tasked to move toward a waypoint in the ground-db.mtf terrain. A tank and waypoint will appear in the display, and the tank will immediately begin moving toward the waypoint.

Main Application File

/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


//This example demonstrates how to use the DtCgf class to create objects
//and task entities, as you would if you were to embed VR-Forces in your own 
//application.

#ifdef WIN32
#include <winsock2.h>
#include <windows.h>
#endif

//VR-Forces Headers
#include "vrfcgf/cgf.h"
#include "vrfcgf/cgfDispatcher.h"
#include "vrfcore/simManager.h"
#include "vrftasks/moveToTask.h"
#include "vrfobjcore/vrfObject.h"

//VR-Link headers
#include <vl/exerciseConn.h>
#include <vl/exerciseConnInitializer.h>
#include <vlutil/vlPrint.h>
#include <vlutil/vlProcessControl.h>
#include <vl/hostStructs.h>
#include "vrfutil/vrfVlKeyboard.h"

int main(int argc, char *argv[])
{
   //DIS/RPR simulation address

   DtSimulationAddress simAddress(1, 3001);

   //Create the CGF
   DtCgf* cgf = new DtCgf(simAddress);

   // The following is left so the user can see how to piece together a 
   // simple DIS or HLA exercise connection. Also so you know what execName to 
   // pass for HLA for the -x command. Use this and you don't need anything else, it will use 
   // a default fed file of VR-Link.fed(for HLA13) or VR-Link.xml( for HLA1516/1516e) However to make life easier we're also 
   // going to show you how to use an DtVrlApplicationInitializer so you can parse the command line as well
   //Create the exercise connection
/*#if DtHLA

   DtString execName           = "VR-Link";     //HLA federation execution name
   DtString federateName       = "simpleCgf";   //HLA federate name
   double rprFomVersion        = 1.0;           //RPR FOM version number

   DtExerciseConn* exerciseConn = new DtExerciseConn(execName, federateName,
      new DtRprFomMapper(rprFomVersion));

#else //DIS

   int port = 3928;                             //UDP port number
   int exerciseId = 1;                          //DIS exercise ID

   DtExerciseConn* exerciseConn = new DtExerciseConn(port, DtInetAddr("127.255.255.255"),exerciseId, 
      simAddress.siteId(), simAddress.applicationId());

#endif*/

   // Use this to parse the command line then pass the initializer to the exercise connection
   DtVrlApplicationInitializer initializer(argc, argv, "simpleCgf");

#if DtDIS
   initializer.setDisVersionToSend(7);
   initializer.setAllowCoupledPdus(true);
#endif

   initializer.parseCmdLine();

#if DtDIS
   initializer.setSiteId(simAddress.siteId());
   initializer.setApplicationNumber(simAddress.applicationId());
#endif

   DtExerciseConn* exerciseConn = new DtExerciseConn(initializer);

   //Initialize the CGF
   cgf->init(exerciseConn);

   //Create the dispatcher so this application can interface with
   //front-end
   DtCgfDispatcher* cgfDispatcher = new DtCgfDispatcher(cgf,
      cgf->simManager()->messageInterface());

   //Create a new scenario, using the Ground-db.gdb terrain database and the EntityLevel
   //simulation model set to allow for entity creation
   cgf->newScenario("../userData/terrains/Ground-db.mtf",
      "../data/simulationModelSets/EntityLevel.sms");
   //Tick the cgf to get the terrain loaded
   cgf->tick();
   
   //Create a tank
   DtEntityType tankType(1, 1, 225, 1, 1, 3, 0);
   DtVector initialPosition(900.0, 900.0, 0.0); //Database coordinates, meters
   DtReal initialHeading = 0.0;                 //Heading in radians
   //At this point the simulation has not yet been started, so when creating
   //entities it's best to call createEntity without specifying the
   //"allowBlocking" parameter to allow it default to true. This will insure
   //that when using a paging terrain, the necessary pages will immediately
   //get paged in.
   DtVrfObject* tank = cgf->createEntity(
      tankType,                                 
      DtForceFriendly,                          
      initialPosition,              
      initialHeading);                                     

   //Create a waypoint named "Alpha"
   
   DtVrfObject* alpha = cgf->createWaypoint(
      DtVector(1300.0, 1000.0, 0.0),            
      "Alpha");

   //Tell the tank to move to waypoint "Alpha"

   DtMoveToTask moveToTask;
   moveToTask.setControlPoint(alpha->uuid());

   cgf->assignTask(tank, moveToTask);

   //Put the simulation engine into run mode.

   cgf->run();

   //Used below to insure only one example entity is created at runtime
   bool entityCreatedAtRuntime = false;

   //Main application loop
   while (1)
   {
      //tick the CGF Dispatcher
      cgfDispatcher->tick();
       
      //tick the CGF
      cgf->tick();

      //Poll & process keyboard input
      char *keyPtr = DtGetInputLine();
      if (keyPtr && *keyPtr == 'q')
      {
         break;
      } 

      //Give up the remainder of our time slice.
      DtSleep(0.01);
      
      //This is an example of creating an entity at runtime
      if (!entityCreatedAtRuntime)
      {
         //Change the initial position so this entity isn't created on top of
         //the first one
         initialPosition.setX(300);
         //In this case when calling createEntity, the allowBlocking flag must
         //be set to false. If the entity being created requires a new tile to
         //be swapped in, the simulation can't block while it gets loaded in
         //without having a negative effect on the models.
         cgf->createEntity(tankType, DtForceFriendly, initialPosition,              
            initialHeading, DtString::nullString(), false);
         //reset the flag so only one entity gets created
         entityCreatedAtRuntime = true;
      }
   }    

   delete cgf;
   delete exerciseConn;

   return 0;
}