1. ONR Gathering April 24, 2002 NAVCIITI Visualization Thrust Tasks 2.1a & 2.1b Command and Control Visualization Year 3 & 4 (4/1/01 - 3/31/03)

2. ONR Gathering April 24, 2002 NAVy Collaborative Integrated Information Technology Initiative “The vision of the program is to provide the precursor of development, demonstration, and configuration of high payoff technologies in support of the Navy’s Command and Control vision.” ONR project management started March, 1999 year 1: 4/1/99 - 3/31/00 Year 3 & 4 funding: $8,300,000

3. ONR Gathering April 24, 2002 Command and Control Visualization Objectives Task 2.1a: A collaboration between NUWC, NRL and VT to develop an ASW tactical interface for littoral battle space. Task 2.1b: Extend the DIVERSE API to facilitate its use by Task 2.1a researchers.

4. ONR Gathering April 24, 2002 Task 2.1a Funding: Years 3 & 4:$252,000 Personnel: Ron Kriz, Co-PI Fernando Das Neves, student developer

5. ONR Gathering April 24, 2002 Task 2.1b Funding: Years 3 & 4:$553,000 Personnel: Lance Arsenault, Co-PI & developer John Kelso, developer Chris Logie, student developer

6. ONR Gathering April 24, 2002 Task 2.1a Year 3 & 4 Statement of Work Development of C&C acoustic model scenegraph based on OpenGL API developed in Task 2.1b. Create interfaces for HMDs, IWBs, CAVEs, and desktop flat panels across heterogeneous OSs- IRIX, GNU/Linux, MS Windows.

7. ONR Gathering April 24, 2002 Task 2.1b Year 3 & 4 Statement of Work Create DGL, an OpenGL DIVERSE API for IRIX, GNU/Linux, MS Windows. Support OpenGL-based scenegraphs, such as Open Inventor and OpenScenegraph, using DGL. Create navigation tools and a GUI manager. Expand on network extensions, including data abstractions and security. Integrate networked device tools.

8. ONR Gathering April 24, 2002 Ken Lima covered Task 2.1a in his talk “Virtual Reality for Multi Warfare Planning”. This talk will focus on Task 2.1b.

9. ONR Gathering April 24, 2002 Some background : 1998: VT CAVE activated- soon realized available graphics software insufficient- needed support for IWB, etc.. 1999: DIVERSE graphics started. (Kelso) ONR MURI & DURIP grants for crane ship simulator and motion platform. (Arsenault)

10. ONR Gathering April 24, 2002 By 1999 we knew what we needed: Software to facilitate the display and creation of device independent virtual environments. Framework to support highly reconfigurable asynchronous distributed simulations.

11. ONR Gathering April 24, 2002 What we needed… features Applications run unmodified on all supported devices- real/simulated, local/remote. Free open source, both cost and redistribution. Tools to support non-programmers.

12. ONR Gathering April 24, 2002 What we needed…philosophy Stay out of the user’s way –They know better than we do how to do their job. Augment instead of replace –Build on existing packages, don’t reinvent new ones. Works by default –Reasonable lowest-common-denominator defaults.

13. ONR Gathering April 24, 2002 What we needed…design Modular –Only use the parts you need. Flexible –Easy to reconfigure and extend. Reusable –Components work across multiple applications.

14. ONR Gathering April 24, 2002 What we looked at: CAVElib, dVise, WorldToolkit, Vega, MR Toolkit –Not free or not freely redistributable. VRJuggler –Not open source when surveyed. (7/99) –Callback paradigm can get in the user’s way. –No tools for distributed asynchronous simulations.

15. ONR Gathering April 24, 2002 So we wrote DIVERSE Includes : –C++ library of classes for application development. –Stand-alone application programs and utilities. –Dozens of small programs to illustrate specific features, designed to be easily moved and modified. –Extensive documentation, including “man” pages and Programmer’s Guide.

16. ONR Gathering April 24, 2002 DIVERSE is comprised of three modules 1) DTK- the DIVERSE ToolKit Contains classes not related to graphics –Remote shared memory. –Input devices- local or remote. A standalone package in its own right –Complete non-graphical simulations. –Graphical modules can be added as separate processes.

17. ONR Gathering April 24, 2002 DIVERSE is comprised of three modules 2) DPF- the DIVERSE graphics interface for OpenGL Performer Built using DTK and Performer –Uses Performer scenegraph and multi-pipe support for ease of use and efficiency. –Includes command-line tools for non-programmers. –Only runs on Performer’s platforms- IRIX and GNU/Linux.

18. ONR Gathering April 24, 2002 DIVERSE is comprised of three modules 3) DGL- the DIVERSE graphics interface for OpenGL Built using DTK and OpenGL –Multi-threaded draw callback. Scenegraph agnostic –Able to use any scenegraph that generates OpenGL. Potential to run on almost any platform –OpenGL runs on almost anything.

19. ONR Gathering April 24, 2002 All of these modules form DIVERSE Timeline : DTK- started by Arsenault in 1999 for MURI/DURIP- continued in NAVCIITI Task 2.1b years 3 & 4. DPF- started by Kelso in 1999 using non-Navy funds- continued in 2000 with NAVCIITI Task 2.1 year 2. Currently funded by non-Navy sources. DGL- started by Logie in 2000 using non-Navy funds- continued in NAVCIITI Task 2.1b years 3 & 4. All modules also benefited from non-Navy funding.

20. ONR Gathering April 24, 2002 Classes Input class The usual logical devices, transparently networked. Augment class Base class for DSOs. Manager class Loads/unloads Augment DSOs. Manages Augment callbacks.

21. ONR Gathering April 24, 2002 A word about DSOs… DSOs- Dynamic Shared Objects: Encapsulated functionality. C++ programs, loaded/unloaded at run-time. Invoked via Manager- standard entry points. No restriction on what the code does Can load and modify other DSOs. Known as DLLs in MS Windows.

22. ONR Gathering April 24, 2002 Classes... Display: Creates and manages classes related to hardware pipes, windows and channels. Creates multiple coordinate systems. Calculates symmetric and asymmetric view frusta. Calculates stereo parallax. Displays objects with correct physical dimensions.

23. ONR Gathering April 24, 2002 Classes... Nav - generalized navigation Based on Augment class. Application independent. Parameters set each frame. Usually time based, not frame based. Load and switch between multiple navigations.

24. ONR Gathering April 24, 2002 DIVERSE library relationships:

25. ONR Gathering April 24, 2002 In summary, a DIVERSE program will run, unmodified: On a range of systems, from desktops to HMDs to CAVEs to simulators. With a variety of input devices, real or simulated, local or remote. With any number of navigation techniques. With any other added functionality from run-time loadable DSOs.

26. ONR Gathering April 24, 2002 Task 2.1b Year 3 & 4 Statement of Work revisited: Item: Create DGL, an OpenGL DIVERSE API for IRIX, GNU/Linux, MS Windows. Status : Beta version of DGL for GNU/Linux released. IRIX is next. MS Windows version of DGL awaiting MS Windows of DTK version.

27. ONR Gathering April 24, 2002 Task 2.1b Year 3 & 4 Statement of Work revisited: Item: Support OpenGL-based scenegraphs, such as Open Inventor and OpenScenegraph, using DGL. Status : Open Inventor works with beta version of DGL.

28. ONR Gathering April 24, 2002 Task 2.1b Year 3 & 4 Statement of Work revisited: Item: Create navigation tools and a GUI manager. Status : Navigation tools working with DPF. Need to be ported to DGL. GUI tools and manager working with DTK.

29. ONR Gathering April 24, 2002 Task 2.1b Year 3 & 4 Statement of Work revisited: Item: Expand on network extensions, including data abstractions and security. Status : Queued messages part of most recent DTK. General XML-based messaging being developed. OpenSSL being investigated for security.

30. ONR Gathering April 24, 2002 Task 2.1b Year 3 & 4 Statement of Work revisited: Item: Integrate networked device tools. Status : PocketPC implemented as a DTK device.

31. ONR Gathering April 24, 2002 Task Conclusions: Task 2.1b has: Facilitated the Navy’s ability to create a scaleable, reconfigurable tactical interface for littoral battle space ASW. Leveraged from, and contributed to, the capabilities of an open source VE and distributed simulation API.

32. ONR Gathering April 24, 2002 Who else uses DIVERSE? Open source model means developments by one can be used by all: DIVERSE has generated an additional $200,000 in non-Navy funding, but Navy gets to use the work. Open source license has allowed others to use DIVERSE at no cost : Universities and high schools, Governor's schools. Research labs.

33. ONR Gathering April 24, 2002 Who else uses DIVERSE? NUWC: Undersea Weapon Design and Optimization. NIST: Visualization of complex data sets. Haptic devices for probing data set densities. TASC: Battlefield visualization GIS. Lockheed-Martin: Tools for collaborative engineering.

34. ONR Gathering April 24, 2002 Contributions to the larger community Technical workshops: VT (3), ODU, Penn State Technical presentations: SGI, Penn State, NIST Advanced degrees: Graduate thesis

35. ONR Gathering April 24, 2002 Contributions: papers and presentations: L. Arsenault, A. H. Nayfeh, J. Kelso, D. T. Mook, and R. D. Kriz, Crane and Ship Simulator, MURI Nonlinear Active Control of Dynamical Systems, Oct 16, 2000. L. Arsenault and J. Kelso, DIVERSE: An open-source VE software API, Keynote address, ONR Undersea Weapon Simulation Based Design Workshop,University of Maryland, College Park, MD, June 14, 2001. L. Arsenault, J. Kelso, R. Kriz, F. Das Neves, DIVERSE: a Software Toolkit to Integrate Distributed Simulations with Heterogeneous Virtual Environments, JAWS 2001, San Diego, CA, July 17, 2001. J. Kelso, L. Arsenault, S. Satterfield, R. Kriz, DIVERSE: A Framework for Building Extensible and Reconfigurable Device Independent Virtual Environments, VR2002, Orlando FL, March 28, 2002.

36. ONR Gathering April 24, 2002 Want to know more? Visit www.diverse.vt.edu Contact the DIVERSE project at: diverse@vt.edu Attend our free workshop, May 20-21.

37. ONR Gathering April 24, 2002 www.diverse.vt.edu