Virtual Vehicles Manager: a java virtual reality environment for distributed multi vehicles dynamics control and simulation

This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. All the software is developed in Java so there are many advantages as portability, multithreading distribution etc. This environment simulates the vehicles integrating their non-linear differential equation systems. The equation systems can easily be modified changing that representation class so it is easy to manage different vehicles. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3 d primitive. It is also possible the use of pre-built 3 d objects loaded from files in 3 ds format. The software also grants efficient communication between two or more entities cooperating using both TCP and UDP protocols.