High-fidelity modelling for motion, response to physical stimuli and attack behaviours along with realistic control are vital requirements for training-critical military simulations. In addition, whenever simulation components are built on different infrastructures, maintaining coordination becomes a challenging problem. There are several COTS frameworks that facilitate development of computer generated forces (CGF), scenario management and run control for distributed simulations. However, they may not always afford to meet the requirements of virtual military training simulation systems. In this paper, we present modeling and simulation of surface vessels, submarines and rotary wing platforms with complex motion equations, several sensors, weapons and fuzzy logic controllers within a high-fidelity virtual military training simulation. Modules and libraries for high-fidelity entity simulation are integrated into component architecture of a commercial CGF simulation engine, namely VR-Forces. An original control architecture, which is able to manage all kinds of simulation components with different infrastructures, has also been realized.
