The CD-ROM that accompanies this book contains source code for developing simulations in C++ as well as example simulations for use with Simulink, VisSim, MATRIX_X SystemBuild, and 20-sim. The top-level directories on the CD-ROM are organized as follows:

• DSSL The DSSL directory contains the C++ source code for the Dynamic System Simulation Library. The DSSL library contains software that performs the following tasks:

1. Integrating state variables and updating difference equations. Supported integration methods: Forward Euler, Adams-Bashforth 2^nd, 3^rd, and 4^th order, Runge-Kutta 2^nd and 4^th order.

2. Function interpolation. Linear function interpolation with any number of function dimensions.

3. Matrix/vector classes and operations. These C++ template classes enable the creation of vectors and matrices of arbitrary size element types such as int, double, and complex. The supported operations include addition, subtraction, and multiplication of appropriately-sized vectors and matrices as well as matrix inversion using the LU decomposition. Vector dot product, cross product and magnitude operations are also included.

4. Random number generation. Pseudorandom numbers can be generated in a portable manner using a high quality method. Uniform and normal random number distributions are available.

5. Rigid body motion. Rigid body motion simulation is provided by the RigidBody class. This class uses a quaternion to compute the rotational orientation of the body. The motion of the body is determined by its initial conditions and the translational and rotational accelerations imparted on it over time.

6. Nonlinear functions. Some nonlinear functions that are often needed in dynamic system simulation are provided. These functions include nint (nearest integer), limit, quantize, and transport_delay.

Including the DSSL.h file in a C++ source program provides the basic DSSL services. If the integration methods are used, StateList.cpp must also be compiled and linked with the program. If the Random class is used, Random.cpp is required and if the RigidBody class is used, RigidBody.cpp is required.

• RTSP The RTSP directory contains the Real Time Simulation Protocol distribution described in Chapter 5. This includes the C++ source code for RTSP as well as a complete example application. The RTSP example consists of three communicating simulations that can execute on separate computers across a network. See Chapter 5 and the file RTSP Programmer’s Guide.doc for complete information.

The entire RTSP protocol and software package consists of the following items:

1. Message Definition File (MDF) syntax and format specifications

2. Translator program to convert an MDF file into C++ source code

3. Runtime software that provides the RTSP real time communication routines

4. A generic Win32™ controller program that reads any valid MDF file, sends out command messages to the federates in response to button clicks, and displays the response information returned from the federates

• Examples The Examples directory contains the example models and simulations developed in each chapter of this book. These include several DSSL simulations and some Simulink models with MATLAB scripts for executing those models. The example simulations discussed in Chapter 9 are included for the Simulink, VisSim, MATRIX_X SystemBuild, and 20-sim tools. Fully functional demo versions of these tools are available at no charge from the company web sites as described in Chapter 9.