The U.S. Army Research Laboratory Dynamic 

Terrain Server 

by Mark A. Thomas 

ARL-TR-2962 April 2003 

Approved for public release; distribution is unlimited. 
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Army Research Laboratory 

Aberdeen Proving Ground, MD 21005-5067 

ARL-TR-2962 April 2003 

The U.S. Army Research Laboratory Dynamic 

Terrain Server 

Mark A. Thomas 

Computational and Information Sciences Directorate, ARL 

Approved for public release; distribution is unlimited.
ii

INTENTIONALLY LEFT BLANK.
iii

Contents 

Acknowledgments iv

1. Introduction 1

2. Capabilities 1

3. Architecture 2

3.1 Network Interface Unit....................................................................................................3

3.2 Munitions Effects Module...............................................................................................3 

3.3 Set Data PDU Breach Subtract PDU...............................................................................3 

3.4 Breach Polygon Number Set Data PDU..........................................................................6 

3.5 Ding Information Set Data PDU .....................................................................................7 

4. DTServer GUI 8

5. Runtime Considerations 9

5.1 Terrain Database..............................................................................................................9 

5.2 Object Database...............................................................................................................9 

5.3 Munitions Database.......................................................................................................11

5.4 Run Script......................................................................................................................12 

6. Results 13

7. Conclusion 14

Bibliography 15

Report Documentation Page 16
iv

Acknowledgments 

The author would like to acknowledge the participation of the following individuals: Ms. Pat 

Jones, U.S. Army Research Laboratory (ARL), for managerial support; Mr. Andrew Neiderer 

and Mr. Charles Hansen, ARL, for coding and algorithm development; Mr. James Grosse and 

Mr. Brian Comer, Program Executive Office for Simulation, Training, and Instrumentation, for 

their support in funding the integration of the Dynamic Terrain Server (DTServer) with the 

Soldier Visualization System; and Dr. Bruce Knerr and Dr. Steve Goldberg, U.S. Army Research 

Institute for the Behavioral Sciences, for funding integration of the DTServer with the AfterAction Review system developed by the Institute for Simulation and Technology. 
1

1. Introduction 

The U.S. Army Research Laboratory (ARL) is conducting research in methods to compute and 

distribute dynamic terrain information in real-time distributed simulation. The purpose is to 

populate virtual environments with real-world dynamic terrain and objects such as rubble and 

debris, dings, and breaches of structures. Dismounted infantry simulation requires these 

obstacles and capabilities for room-clearing operations, urban terrain warfare, and situational 

awareness. 

The ARL Dynamic Terrain Server (DTServer) provides this capability. The DTServer computes 

effects on structures from munitions detonations and collisions. The server transmits the results 

to client simulations on the network and updates the status of rubble entities. The result of using 

the DTServer is a unified terrain database across all simulators ensuring fair-fight, realism, and 

training effectiveness. This report will describe the DTServer capabilities, architecture, and 

run-time considerations. 

2. Capabilities 

The DTServer computes effects on structures using table look-up and empirical formulas. The 

DTServer contains a munitions effects table which has data for relevant munitions such as the 

9-mm bullet, 50-cal. munition, AT8 munition, and artillery. These munitions all create some 

effect on structures. A 9-mm impact on a concrete structure will leave a mark, or ding, on a 

concrete wall. This mark is not significant for structural mechanics but is significant to 

dismounted combatants for situational awareness and survivability. An AT8 blast, however, will 

completely breach a wall, affording access for room-clearing operations. The DTServer 

computes these effects and distributes them to compliant simulations across the network. 

The DTServer transmits dynamic changes using distributed interactive simulation (DIS) protocol 

data units (PDU). The DIS Set Data PDU is used to transmit data to client simulations for 

breaches and dings. The Set Data PDUs sent by the DTServer are the Breach Subtract, Breach 

Vertices, and Ding messages. 

Rubble is treated as an entity. This is a compatibility issue with the Dismounted Infantry SemiAutomated Forces (DISAF) program. The DISAF program requires geometry to be continuous. 

The breaching function cannot guarantee continuity with the rubble field computed. Therefore, 

each piece of rubble is transmitted to the simulators as an entity. The Entity State PDU transmits 

rubble state to client applications. The DTServer computes the rubble field and transmits a PDU 
2

for each piece of rubble. The DTServer then sends a heartbeat for each piece of rubble to keep it 

active in the simulation. 

The DTServer can log and replay events. Logged events can be replayed to provide an afteraction capability or to predamage a database using data from a previous run. 

The DTServer includes a graphical user interface (GUI) to view the database. The DTServer 

display is shown in Figure 1. 

Figure 1. DTServer display showing Fort Polk database. 

3. Architecture 

The DTServer is comprised of a network interface unit (NIU), a munitions effects module 

(MEM), and a GUI. 
3

3.1 Network Interface Unit 

The NIU handles DIS communications for the DTServer. The DTServer reads the DIS 

Detonation PDU network packet. The Detonation PDU contains the information required for the 

munitions effects module. This information includes the point of detonation, the munition 

description, and the velocity vector. When a Detonation PDU is received by the NIU, it is sent 

to the munitions effects module. 

The NIU requires two values at program initialization, the DIS port and exercise identifier. 

These values are entered by the user at program start-up. 

3.2 Munitions Effects Module 

The MEM computes the effect of the detonation on the impacted object. The MEM contains a 

database of munitions properties, terrain objects (buildings, bridges, other man-made objects), 

and ground terrain. The MEM parses the munition type, velocity vector, and detonation location 

from the Detonation PDU. If the detonation location does not impact a terrain object, the MEM 

does nothing. If a terrain object is impacted, the effect is computed. The computation is a 

simple mathematical relation between hole size and the mass of trinitrotoluene (TNT) in the 

projectile: d = mp1/3, where d = diameter and mp = mass of TNT. 

This relation was derived from a need to compute holes of different sizes from different 

munitions. The formula can be replaced by physics-based models which factor in projectile 

impact speed, direction, and wall properties. The effects computation returns two values—a 

breach flag and a size. If the breach flag is true, the size is the radius of the breach. If the breach 

flag is false, the size is the size of the ding. 

If a breach occurs, the geometry engine is called to compute the new geometry. The new 

geometry consists of the new polygons which make up the new wall. When this computation is 

completed, the NIU is called to transmit the Set Data PDU Breach Subtract PDU and the set data 

polygon information. In addition, Entity State PDUs are transmitted for the resulting rubble. 

If the breach flag is false, a ding is the result. The size is the radius of the ding. A Set Data PDU 

ding packet is formatted and sent to clients. 

3.3 Set Data PDU Breach Subtract PDU 

The Set Data PDU Breach Subtract PDU includes the necessary information for clients to initiate 

a breach. The PDU data packet includes breach location in round world coordinates, the surface 

normal in local coordinates, the name of the texture of the impacted polygon, and the number of 

polygons to follow. The following code fragment shows the construction of the Breach Subtract 

Set Data PDU: 
4

typedef struct FixedDatumRecord{ 

 Unint32 id; 

 Unint32 value; 

} 

typedef struct BreachRecord{ 

 Unint 32 id; 

 Unint32 length; 

 Float64 value[8]; 

} 

typedef struct VertexRecord{ 

 Unint32 id; 

 Unint32 length; 

 Float64 value[5]; 

} 

typedef struct DingRecord{ 

 Unint32 id; 

 Unint32 length; 

 Float64 value[5]; 

} 

BreachRecord *v = (BreachRecord *)setdatapdu->variableDatum; 

FixedDatumRecord *f = (FixedDatumRecord *)setdatapdu->fixedDatum; 
5

setdatapdu->originating_entity_id.entity_id = EntityID; 

setdatapdu->receiving_entity_id.address.site = 65535; 

setdatapdu->receiving_entity_id.address.application = 65535; 

setdatapdu->receiving_entity_id.entity_id = 65535; 

setdatapdu->request_id = breach_number; 

setdatapdu->number_of_fixed_datum_records = 34; 

setdatapdu->number_of_variable_datum_records = 1; 

f[0].id = BREACH_SUBTRACT_INFORMATION; 

f[0].value = number_of_polygons; 

f[1].id = BREACH_TEXTURE_INFORMATION; 

f[1].value = strlen( texture); 

for( int I = 0; I < 32; I++ ){ 

 f[I+2].id = BREACH_TEXTURE_INFORMATION + I + 1; 

 f[I+2].value = texture[I]; 

} 

v->id = BREACH_SUBTRACT_INFORMATION; 

v->length = 512; 

v->value[0] = world X location of breach; 

v->value[1] = world Y location of breach; 

v->value[2] = world Z location of breach; 

v->value[3] = surface normal X; 
6

v->value[4] = surface normal Y; 

v->value[5] = surface normal Z; 

v->value[6] = major_axis_length in meters; 

v->value[7] = minor_axis_length in meters; 

3.4 Breach Polygon Number Set Data PDU 

The Breach Polygon Number Set Data PDU contains the polygon information. Clients will store 

the polygon data in the arrays allocated after arrival of the Breach Subtract Set Data PDU. The 

Breach Polygon Number Set Data PDU contains the number of the polygon from zero to N, the 

round world coordinates of the vertex, and the texture coordinates. The following code fragment 

shows the construction of the data packet: 

FixedDatumRecord *f = (FixedDatumRecord *)setdatapdu->fixedDatum; 

VertexRecord *v = (VertexRecord *)setdatapdu->variableDatum; 

setdatapdu->originating_entity_id.entity_id = EntityID; 

setdatapdu->receiving_entity_id.address.site = 65535; 

setdatapdu->receiving_entity_id.address.application = 65535; 

setdatapdu->receiving_entity_id.entity_id = 65535; 

setdatapdu->request_id = Breach_ID; 

setdatapdu->number_of_fixed_datum_records = 1; 

f->id = BREACH_POLYGON_NUMBER; 

f->value = Polygon Number [ 0 – N ] 

setdatapdu->number_of_variable_datum_records = 3; 
7

v[I]->id = BREACH_POLYGON_INFORMATION; 

v[I]->length = 320; 

v[I]->value[0] = world X location; 

v[I]->value[1] = world Y location; 

v[I]->value[2] = world Z location; 

v[I]->value[3] = texture u coordinate; 

v[I]->value[4] = texture v coordinate; 

The information in the PDU is independent triangles. Each triangle is described by its 

coordinates (vertices) and texture values. Using this data, the receiving simulator culls out the 

impacted wall from the scene and replaces it with the triangles received from the network. The 

receiving simulator can extract color information for the new triangles from the impacted 

triangle. In the future, color information should be included in the Set Data PDU, with a 

corresponding decrease in network response. 

3.5 Ding Information Set Data PDU 

The ding data packet contains the necessary data to display a ding resulting from a small-arms 

impact on a terrain object. The following code fragment shows the Ding Set Data PDU: 

FixedDatumRecord *f = (FixedDatumRecord *)setdatapdu->fixedDatum; 

DingRecord *d = (DingRecord *)setdatapdu->variableDatum; 

setdatapdu->originating_entity_id.entity_id = EntityID; 

setdatapdu->receiving_entity_id.address.site = 65535; 

setdatapdu->receiving_entity_id.address.application = 65535; 

setdatapdu->receiving_entity_id.entity_id = 65535; 

setdatapdu->request_id = DING_ID; 

setdatapdu->number_of_fixed_datum_records = 1; 

setdatapdu->number_of_variable_datum_records = 1; 
8

d->id = DING_ID; 

d->length = 320; 

d->value[0] = world X location; 

d->value[1] = world Y location; 

d->value[2] = world Z location; 

d->value[3] = angle in X/Y plane; 

d->value[4] = size in meters; 

4. DTServer GUI 

The DTServer GUI provides a visual check on the state of the database. Breaches and rubble are 

displayed. The GUI is a three-dimensional display of the terrain, and the viewer can fly around 

the terrain using keyboard commands. The GUI may be turned off to increase system response 

on computers with slow graphics hardware. The GUI also allows the user to fire munitions at 

walls to create damage in a stand-alone mode. The user can select the weapon to be fired, aim at 

a wall, and fire the weapon. The effect is calculated, and the appropriate Set Data PDU is 

transmitted. This capability is useful when inserting new munitions into the database or testing 

client program compatibility. 

The arrow keys provide steering and speed control. The up and down arrows speed up and slow 

down forward and reverse motion. The left and right arrow keys turn the view left and right. 

The F11 and F12 keys raise and lower the eyepoint. The H key turns the GUI drawing off. This 

will greatly improve DTServer processing speed on slower machines. The L key will turn on 

logging. The logger will store all received detonation events that result in a breach or ding. The 

events are stored in a file, DTlog.dat in the current working directory, and can be replayed with 

the R command. This allows the DTServer to store simulation runs for playback later or to 

predamage a database using data from an earlier run. 

The space bar fires the current munition. The munition is fired at the center of the screen. The 

user selects the weapon with the S key. 
9

5. Runtime Considerations 

The DTServer requires three databases in order to run—the terrain database, the object database, 

and the munitions database. The following sections describe these databases and give an 

example of a run script for the DTServer. 

5.1 Terrain Database 

The terrain database is used for ground clamping rubble. The terrain database is loaded using the 

following –t command line option: dtserver –t ftpolk_terrain.flt. Multiple terrain databases may 

be loaded, each with the –t flag. 

5.2 Object Database 

The DTServer can function on an entire database (with the –t runtime option) or on specific 

objects within a database. The presence of the file scene.cfg will determine specific objects or 

whether the entire database is processed. 

The scene.cfg file is a user-created datafile of object names. The object names may be file 

names or display list names. For example, buildingL.flt will load in the OpenFlight file named 

buildingL.flt and will add it to the list of processed objects. In addition, node3 will search the 

database for a node named node3 and add it to the list of processed objects. 

The DTServer creates a file called nodenames.dat when executed. A node is a graphics object in 

the scene graph of the graphical database. A node can have a name; such named nodes are of 

interest. This file lists the names of all named nodes in a database. The user then selects the 

objects to be processed from this list and adds them to the scene.cfg file. This is a trial and error 

process and is prone to error; hence, caution is advised. 

The scene.cfg file is of the following format: 

staticNodes 

{ 

Xbld1G 

Xbld2C 

Xbld1G 

Xbld4H 
10

Xbld5F 

Xbld6EE 

Xbld6EE 

Xbld10H 

Q1room 

Xbld11HH 

Xbld12HH 

Xbld13B 

Xbld14H 

Xbld15H 

Xbld16H 

Xbld17HH 

Xbld18H 

Xwatertower 

Xbld20H 

Xbld21AA 

Xbld22B 

Xbld23A 

Xbld6EE 

Xbld25E 

Xbld26D 

Xbld6EE 

Xbld6EE 

Xhbuilding 

} 

terrainNodes 
11

{ 

tGround 

} 

The staticNodes keyword lists the nodes which will be processed for detonations. Using the 

UNIX* system grep command, the node names are extracted from the nodenames.dat file created 

by the DTServer. The grep pfGroup command will print out all named groups in the scene 

graph. These nodes will be the only nodes which will be processed for breaches. The 

terrainNodes keyword lists nodes which will be processed as terrain. Terrain is not breached but 

can show dings for ground impacts. This is useful when showing history of ground impacts and 

residue of smoke munitions. 

In addition, the scene.cfg file may contain file names. The corresponding keywords would be 

staticFiles and terrainFiles. 

5.3 Munitions Database 

For the munitions effects models, the munitions file contains information required such as the 

name, DIS enumeration, the equivalent weight of TNT, burst radius, mass, warhead diameter, 

fuze, and muzzle velocity. The file format is as follows: 

Start{ 

 Name: Redeye 

 Kind: 3 

 Domain: 1 

 Country: 225 

 Category: 1 

 SubCategory: 1 

 EqWtTNT: 5.00 

 BurstRadius: 10.00 

 SmokeType: 1 

 *

 Unix is a registered trademark of The Open Group. 
12

 Mass: 0.50 

 Diameter: 0.25 

 Warhead: 0.00 

 Fuze: 0.00 

 Muzzle Velocity: 0.00 

} 

. 

. 

. 

The current values in the munitions file are derived from open-source literature. 

5.4 Run Script 

The DTServer is best run from a shell script. The following shell script correctly sets up all 

environmental variables and executes the DTServer: 

#!/bin/csh 

setenv DISIMDEV_ROOT /home/disim 

setenv PFPATH $DISIMDEV_ROOT/texture:$DISIMDEV_ROOT/FTPOLK/textures 

setenv LD_LIBRARY_PATH “/usr/X11R6/LessTif/Motif2.0/lib” 

hole_server –p 1313 –e 10 –r 20 –t /home/disim/FTPOLK/models/terrain.smf925b.flt 

-b ftpolk.dat –l 488360.0 3440792.0 15 

This command executes the DTServer with the following settings: 
13

-p 1313 : The DIS UPD port to communicate on 

-e 10 : The DIS Exercise ID is set to 10 

-r 20 : The rubble heartbeat is set to 20 

-t /home/disim/FTPOLK/models/terrain.smf925b.flt : The ground terrain database file 

-b ftpolk.dat : The terrain objects are read from the file ftpolk.dat 

-l 488360.0 3440792.0 15 : The terrain map lower left easting and northing offsets and gridzone 

6. Results 

The DTServer was used in the Culminating Event for the Virtual Environments for Dismounted 

Soldier Simulation, Training, and Mission Rehearsal Science and Technology Objective at 

Ft. Benning, GA, in September 2002. The DTServer was used with the Fort Polk/ShugarttGordon database to provide dings and breaches. 

The DTServer for this exercise was required to breach walls with the C4 explosive. One 

problem with the C4 was the lack of a velocity vector. The breaching algorithm used the 

velocity vector to compute the shape of the hole. The lack of a velocity vector caused the 

algorithm to abort. This was fixed by adding a velocity vector normal to the wall. Another issue 

for the Culminating Event was data dropouts. Due to the unreliable user datagram protocol 

message-passing protocol of the DIS standard, these dropouts caused the DTServer to not get a 

detonation, therefore not computing a breach. In this instance, the soldiers in the evaluation had 

to redo the C4 charge emplacement. Another case was more serious. This involved the situation 

where some soldier simulators received the Breach Subtract Set Data PDU and others did not. In 

this case, some simulators displayed the breach properly and some did not. This resulted in 

inconsistent databases on the network, which negatively impacted the training exercise. Using a 

reliable network protocol such as the High-Level Architecture would fix these problems. 

Most simulation runs were successful. The soldiers in the training exercise used the ding 

mechanism as tracers and markers. Sniper location was marked by shooting at the wall outside 

the hide position, and breaching was utilized by the soldiers in accordance with doctrine for 

room clearing. 

Another issue for the DTServer concerned the terrain database. The DTServer processes objects 

in the database for which it is programmed, namely buildings and the ground. Entities are 

ignored in the DTServer at this time. The scenarios in the Culminating Event contained entities 

for furniture and other building objects controlled by the semiautomated forces software, DISAF. 
14

In one instance, the soldiers breached a wall only to find a Coca-Cola* machine in the way. In 

the real world, blast overpressure may have knocked the Coca-Cola machine down, or a large 

munition may have blown it up. These secondary effects need to be included in any future 

system for MOUT (military operations in urban terrain) simulations. 

7. Conclusion 

The DTServer provides real-time damage effects to distributed simulations. The DTServer has 

been interfaced to the Soldier Visualization System by “Reality By Design,” the after-action 

review system by the Institute for Simulation and Training, and the ARL DIS. The DTServer 

provides logging and playback functionality for after-action review or predamaging a database 

from a previous run. 

Future work will include upgrading to the High-Level Architecture, providing updates to latearriving clients, and additional real-time munitions effects such as terrain cratering and effects on 

entities. 

The mobility, line-of-sight, and obstacle creation provided by the DTServer can be applied to all 

high-resolution ground level entities such as robots, areal sensors, and unmanned ground 

vehicles. 

 *

 Coca-Cola is a registered trademark of the Coca-Cola Company. 
15

Bibliography 

Neiderer, A. M.; Thomas, M. A.; Pearson, R. A Fracturing of Polygonal Object; ARL-TR-1649, 

U.S. Army Research Laboratory: Aberdeen Proving Ground, MD, April 1998. 

Neiderer, A. M.; Hanson, C. E. Distribution of Fragments Resulting From Polygonal Object 

Fracture; ARL-TN-182, U.S. Army Research Laboratory: Aberdeen Proving Ground, MD, 

September 2001. 

Institute for Electrical and Electronic Engineers. Standard for Distributed Interactive Simulation 

– Application Protocols; DIS-4 Version 2.0, 4th draft (superseded by IEEE 1278.1); Institute 

for Simulation and Training: Orlando, FL, 4 February 1994.
16

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The U.S. Army Research Laboratory Dynamic Terrain Server 

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6. AUTHOR(S) 

Mark A. Thomas 

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Approved for public release; distribution is unlimited. 

13. SUPPLEMENTARY NOTES 

14. ABSTRACT 

The U.S. Army Research Laboratory is conducting research in methods to compute and distribute dynamic terrain information 

in real-time distributed simulation. The purpose is to populate virtual environments with real-world dynamic terrain and objects 

such as rubble and debris, dings, and breaches of structures. This project is part of a science and technology objective to 

develop simulation capabilities for training dismounted soldiers using virtual simulation. This research resulted in the 

development of a dynamic terrain server, DTServer. DTServer computes results of battlefield munitions impacts on structures 

then transmits the results to receiving other simulations on the network using distributed interactive simulation protocol data

units. Results of DTServer use in a dismounted infantry exercise at Ft. Benning, GA, demonstrate the utility of the tool. This 

report will describe the DTServer software and results of the dismounted infantry exercise. 

15. SUBJECT TERMS

dynamic terrain, modeling and simulation, MOUT, distributed interactive simulation, High-Level Architecture 

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19a. NAME OF RESPONSIBLE PERSON

Mark Thomas 

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