From 6196f0ca0ecd0b77dcbedadfd00a627281d1f5b7 Mon Sep 17 00:00:00 2001
From: vinihcrosa <viniciushcrosa@gmail.com>
Date: Sat, 27 Jun 2026 23:49:11 -0300
Subject: [PATCH] refactor(physics): replace CVODE with RK45, remove SUNDIALS
 dependency

CvodeConfig kept as backward-compat alias for RK45Config.
CvodeIntegrator removed. All 207 tests pass without SUNDIALS.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
---
 .compozy/tasks/phase3/adrs/adr-001.md         |  91 ++++++++++
 cmake/Dependencies.cmake                      |   6 -
 default.profraw                               | Bin 0 -> 27896 bytes
 libs/physics/CMakeLists.txt                   |   2 -
 .../include/ymir/physics/RigidBody6DOF.h      |  21 +--
 .../ymir/physics/integrator/CvodeConfig.h     |  14 +-
 .../ymir/physics/integrator/CvodeIntegrator.h |  70 --------
 libs/physics/src/RigidBody6DOF.cpp            |   6 +-
 .../src/integrator/CvodeIntegrator.cpp        | 167 ------------------
 9 files changed, 107 insertions(+), 270 deletions(-)
 create mode 100644 .compozy/tasks/phase3/adrs/adr-001.md
 create mode 100644 default.profraw
 delete mode 100644 libs/physics/include/ymir/physics/integrator/CvodeIntegrator.h
 delete mode 100644 libs/physics/src/integrator/CvodeIntegrator.cpp

diff --git a/.compozy/tasks/phase3/adrs/adr-001.md b/.compozy/tasks/phase3/adrs/adr-001.md
new file mode 100644
index 0000000..87acbe2
--- /dev/null
+++ b/.compozy/tasks/phase3/adrs/adr-001.md
@@ -0,0 +1,91 @@
+# ADR-001: Visualization Session API MVP for Phase 3
+
+## Status
+
+Accepted
+
+## Date
+
+2026-06-27
+
+## Context
+
+Phase 3 must expose Ymir's `World` simulation state to external clients. The roadmap
+identifies WebSocket + Protobuf, scenario loading, basic control commands, and real-time
+state transmission as the intended control API. Codebase research shows that Phase 2
+already provides the required simulation foundation through `World::step(dt)`,
+`World::snapshot()`, `Environment`, `NavalDomain`, and `CouplingRegistry`, while
+`apps/server` remains an empty application target.
+
+The selected primary user is a visualization client. The MVP must provide body
+kinematics, vessel operational state, and environment state. The client needs basic
+session control: load scenario, start, pause, resume, stop, and observe state. The
+preferred stream behavior is event-first updates rather than periodic full snapshots,
+and the main success criterion is integration completeness.
+
+## Decision
+
+Phase 3 will use a Visualization Session API MVP. The product will let a visualization
+client load a scenario, control the simulation session lifecycle, receive an initial
+full session snapshot, and then receive event-first updates covering body kinematics,
+vessel operational state, and environment state.
+
+The MVP will avoid live scenario editing and detailed operator controls. It will
+prioritize one complete end-to-end integration path over breadth.
+
+## Alternatives Considered
+
+### Alternative 1: Control-Rich Operator API
+
+- **Description**: Include session control plus live changes to environment, waypoints,
+  vessel modes, rudder commands, and thruster commands.
+- **Pros**: More useful for training operators and interactive maneuver experiments.
+- **Cons**: Expands scope into operational control semantics before the visualization
+  contract is stable.
+- **Why rejected**: It risks turning Phase 3 into a broad command product instead of
+  the smallest complete external integration layer.
+
+### Alternative 2: Stream-Only Viewer API
+
+- **Description**: Let external code create and run simulations while the server only
+  streams state/events to visualization clients.
+- **Pros**: Fastest path to rendering live state.
+- **Cons**: Does not let the client load or control a full World session.
+- **Why rejected**: It fails the selected success criterion of integration completeness.
+
+## Consequences
+
+### Positive
+
+- Delivers a complete external client workflow with limited product scope.
+- Gives visualization clients enough state to render bodies, vessel status, and environment.
+- Establishes the message contract future operator controls can extend.
+- Keeps Phase 3 aligned with the existing Phase 2 `World` snapshot model.
+
+### Negative
+
+- Does not yet support live operator editing of environment, waypoints, or actuator commands.
+- Visualization clients may still need client-side interpolation when event cadence is lower
+  than render cadence.
+- Event-first behavior requires clear baseline snapshot semantics so clients can recover
+  from missed or out-of-order updates.
+
+### Risks
+
+- **Risk**: Stakeholders may expect direct vessel control in Phase 3.
+  **Mitigation**: Document live scenario and vessel command editing as post-MVP scope.
+- **Risk**: Event-first updates may be insufficient for early visualizers expecting
+  fixed-rate snapshots.
+  **Mitigation**: Require an initial full snapshot and allow clients to request current
+  state on demand.
+
+## Implementation Notes
+
+This ADR records product scope only. Implementation details belong in the Phase 3
+TechSpec.
+
+## References
+
+- `.prds/roadmap.md` — Phase 3 scope
+- `.compozy/tasks/phase-02-world/_prd.md` — World snapshot and Phase 3 readiness
+- `docs/architecture/data-flow.md` — real-time server data flow context
diff --git a/cmake/Dependencies.cmake b/cmake/Dependencies.cmake
index bce4484..5eb88ac 100644
--- a/cmake/Dependencies.cmake
+++ b/cmake/Dependencies.cmake
@@ -22,12 +22,6 @@ FetchContent_Declare(
 
 FetchContent_MakeAvailable(Catch2 nlohmann_json)
 
-# ---------------------------------------------------------------------------
-# SUNDIALS CVODE — ODE integrator (system package, required from M1)
-# ---------------------------------------------------------------------------
-find_package(SUNDIALS 6.0 REQUIRED)
-message(STATUS "SUNDIALS found: ${SUNDIALS_VERSION}")
-
 # ---------------------------------------------------------------------------
 # CGAL — mesh and geometry library (system package, required from M2)
 # ---------------------------------------------------------------------------
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diff --git a/libs/physics/CMakeLists.txt b/libs/physics/CMakeLists.txt
index adb4e2c..7e0ba30 100644
--- a/libs/physics/CMakeLists.txt
+++ b/libs/physics/CMakeLists.txt
@@ -3,7 +3,6 @@ add_library(ymir_physics STATIC
     src/naval_physics.cpp
     src/RigidBody6DOF.cpp
     src/NavalForceModel.cpp
-    src/integrator/CvodeIntegrator.cpp
     src/integrator/RK45Integrator.cpp
     src/forces/CurrentForces.cpp
     src/forces/DampingForces.cpp
@@ -28,7 +27,6 @@ target_include_directories(ymir_physics
 target_link_libraries(ymir_physics
     PUBLIC
         ymir_common
-        SUNDIALS::cvode
 )
 
 target_set_warnings(ymir_physics)
diff --git a/libs/physics/include/ymir/physics/RigidBody6DOF.h b/libs/physics/include/ymir/physics/RigidBody6DOF.h
index ae663a6..a3db8c9 100644
--- a/libs/physics/include/ymir/physics/RigidBody6DOF.h
+++ b/libs/physics/include/ymir/physics/RigidBody6DOF.h
@@ -3,7 +3,9 @@
 #include <ymir/physics/AbstractBody.h>
 #include <ymir/physics/Forces.h>
 #include <ymir/common/Types.h>
-#include <ymir/physics/integrator/CvodeConfig.h>
+#include <ymir/physics/integrator/RK45Integrator.h>
+#include <ymir/physics/integrator/CvodeConfig.h>   // backward compat alias
+#include <ymir/physics/integrator/IIntegrator.h>
 
 #include <memory>
 #include <vector>
@@ -11,17 +13,11 @@
 namespace ymir
 {
 
-class CvodeIntegrator;
-class RK45Integrator;
-
 /**
- * Concrete 6-DOF rigid body with CVODE/BDF integration.
+ * Concrete 6-DOF rigid body with RK45 adaptive integration.
  *
  * Owns its mass matrices, kinematic state, force models, and integrator.
- * CVODE is initialized lazily on the first step() call.
- *
- * Non-copyable and non-movable: CvodeIntegrator::user_data holds an
- * address-stable pointer to its internal RhsContext (see D-10).
+ * Integrator is initialized lazily on the first step() call.
  */
 class RigidBody6DOF final : public AbstractBody
 {
@@ -31,7 +27,7 @@ public:
                   const Matrix6x6&   addedMass,
                   const Vector6&     initialQ,
                   const Vector6&     initialQdot,
-                  const CvodeConfig& config = {});
+                  const RK45Config&  config = {});
 
     ~RigidBody6DOF();
 
@@ -47,7 +43,7 @@ public:
     BodyState state() const noexcept override;
     int       id()    const noexcept override { return id_; }
 
-    /** Reset CVODE time to 0, reinitialise from current body state. */
+    /** Reset integrator time to 0, reinitialise from current body state. */
     void reset();
 
     // Read-only access (used by CvodeIntegrator and tests)
@@ -65,7 +61,6 @@ public:
     Vector6 computeAcceleration(const Forces& totalForce) const noexcept;
 
 private:
-    friend class CvodeIntegrator;
     friend class RK45Integrator;
 
     void setState(const Vector6& q, const Vector6& qdot) noexcept;
@@ -85,7 +80,7 @@ private:
     std::vector<std::unique_ptr<ForceModel>> ownedModels_;
     std::vector<ForceModel*>                 modelPtrs_;
 
-    std::unique_ptr<CvodeIntegrator> integrator_;
+    std::unique_ptr<IIntegrator> integrator_;
     double t_           = 0.0;
     bool   initialized_ = false;
 };
diff --git a/libs/physics/include/ymir/physics/integrator/CvodeConfig.h b/libs/physics/include/ymir/physics/integrator/CvodeConfig.h
index 2bcb4a0..8cab4fe 100644
--- a/libs/physics/include/ymir/physics/integrator/CvodeConfig.h
+++ b/libs/physics/include/ymir/physics/integrator/CvodeConfig.h
@@ -1,14 +1,10 @@
 #pragma once
 
+// CvodeConfig is now an alias for RK45Config.
+// Kept for backward compatibility — tests and existing code can still use CvodeConfig.
+#include <ymir/physics/integrator/RK45Integrator.h>
+
 namespace ymir
 {
-
-struct CvodeConfig
-{
-    double reltol   = 1e-8;
-    double abstol   = 1e-10;
-    long   maxSteps = 10000;
-    double maxStep  = 0.0;  // 0 = no limit (CVODE decides)
-};
-
+using CvodeConfig = RK45Config;
 } // namespace ymir
diff --git a/libs/physics/include/ymir/physics/integrator/CvodeIntegrator.h b/libs/physics/include/ymir/physics/integrator/CvodeIntegrator.h
deleted file mode 100644
index eaccc00..0000000
--- a/libs/physics/include/ymir/physics/integrator/CvodeIntegrator.h
+++ /dev/null
@@ -1,70 +0,0 @@
-#pragma once
-
-#include <ymir/physics/integrator/IIntegrator.h>
-#include <ymir/physics/integrator/CvodeConfig.h>
-
-#include <sundials/sundials_context.h>
-#include <nvector/nvector_serial.h>
-#include <sunmatrix/sunmatrix_dense.h>
-#include <sunlinsol/sunlinsol_dense.h>
-
-#include <vector>
-
-namespace ymir
-{
-
-/**
- * CVODE/BDF integrator for 6-DOF rigid body dynamics.
- *
- * State vector (12 doubles):
- *   y[0..5]  = q     (position in inertial frame)
- *   y[6..11] = qdot  (velocity in body frame)
- *
- * Non-copyable and non-movable: CVODE's user_data pointer references
- * internal context by address (see D-10 in STATE.md).
- */
-class CvodeIntegrator : public IIntegrator
-{
-public:
-    explicit CvodeIntegrator(const CvodeConfig& config = {});
-    ~CvodeIntegrator();
-
-    CvodeIntegrator(const CvodeIntegrator&)            = delete;
-    CvodeIntegrator& operator=(const CvodeIntegrator&) = delete;
-    CvodeIntegrator(CvodeIntegrator&&)                 = delete;
-    CvodeIntegrator& operator=(CvodeIntegrator&&)      = delete;
-
-    /** Allocate CVODE memory and set initial conditions from body. */
-    void initialize(RigidBody6DOF& body, std::vector<ForceModel*>& models) override;
-
-    /** Advance body state by dt seconds. Throws on CVODE error. */
-    void step(RigidBody6DOF& body, double dt) override;
-
-    /** Reinitialize CVODE with the body's current state (no reallocation). */
-    void reset(RigidBody6DOF& body) override;
-
-    double time() const noexcept override { return t_; }
-
-    // Public so the static rhs() callback can access it — not user API.
-    struct RhsContext
-    {
-        RigidBody6DOF*            body   = nullptr;
-        std::vector<ForceModel*>* models = nullptr;
-    };
-
-private:
-    CvodeConfig config_;
-    double      t_ = 0.0;
-
-    SUNContext      sunCtx_ = nullptr;
-    void*           mem_    = nullptr;
-    N_Vector        y_      = nullptr;
-    SUNMatrix       A_      = nullptr;
-    SUNLinearSolver LS_     = nullptr;
-
-    RhsContext ctx_{};
-
-    static int rhsCallback(sunrealtype t, N_Vector y, N_Vector ydot, void* user_data);
-};
-
-} // namespace ymir
diff --git a/libs/physics/src/RigidBody6DOF.cpp b/libs/physics/src/RigidBody6DOF.cpp
index 543c21e..99c7f5a 100644
--- a/libs/physics/src/RigidBody6DOF.cpp
+++ b/libs/physics/src/RigidBody6DOF.cpp
@@ -1,5 +1,5 @@
 #include <ymir/physics/RigidBody6DOF.h>
-#include <ymir/physics/integrator/CvodeIntegrator.h>
+#include <ymir/physics/integrator/RK45Integrator.h>
 #include <ymir/common/math/LinearAlgebra.h>
 
 namespace ymir
@@ -10,7 +10,7 @@ RigidBody6DOF::RigidBody6DOF(int                id,
                                const Matrix6x6&   addedMass,
                                const Vector6&     initialQ,
                                const Vector6&     initialQdot,
-                               const CvodeConfig& config)
+                               const RK45Config&  config)
     : id_(id)
     , massMatrix_(massMatrix)
     , addedMass_(addedMass)
@@ -19,7 +19,7 @@ RigidBody6DOF::RigidBody6DOF(int                id,
     , q_(initialQ)
     , qdot_(initialQdot)
     , qddot_{}
-    , integrator_(std::make_unique<CvodeIntegrator>(config))
+    , integrator_(std::make_unique<RK45Integrator>(config))
 {
 }
 
diff --git a/libs/physics/src/integrator/CvodeIntegrator.cpp b/libs/physics/src/integrator/CvodeIntegrator.cpp
deleted file mode 100644
index 47a9267..0000000
--- a/libs/physics/src/integrator/CvodeIntegrator.cpp
+++ /dev/null
@@ -1,167 +0,0 @@
-#include <ymir/physics/integrator/CvodeIntegrator.h>
-
-#include <ymir/physics/RigidBody6DOF.h>
-#include <ymir/physics/ForceModel.h>
-#include <ymir/physics/Forces.h>
-
-#include <sundials/sundials_context.h>
-#include <cvode/cvode.h>
-#include <nvector/nvector_serial.h>
-#include <sunmatrix/sunmatrix_dense.h>
-#include <sunlinsol/sunlinsol_dense.h>
-
-#include <cmath>
-#include <stdexcept>
-#include <string>
-
-namespace ymir
-{
-
-// ---------------------------------------------------------------------------
-// RHS — CVODE callback (static member → has friend access to RigidBody6DOF)
-// ---------------------------------------------------------------------------
-
-int CvodeIntegrator::rhsCallback(sunrealtype t_rhs, N_Vector y, N_Vector ydot, void* user_data)
-{
-    auto*          ctx  = static_cast<CvodeIntegrator::RhsContext*>(user_data);
-    RigidBody6DOF& body = *ctx->body;
-
-    // 1. Extract q and qdot from CVODE state vector
-    Vector6 q{}, qdot{};
-    for (int i = 0; i < 6; ++i)
-    {
-        q[i]    = NV_Ith_S(y, i);
-        qdot[i] = NV_Ith_S(y, i + 6);
-    }
-
-    // 2. Update body state so ForceModels read current kinematics
-    body.setState(q, qdot);
-
-    // 3. Sum all forces (pass t_rhs as the evaluation time, not body.time())
-    BodyState state{q, qdot, static_cast<double>(t_rhs), 0.0};
-    Forces    Ft = Forces::zero();
-    for (ForceModel* model : *ctx->models)
-        Ft += model->compute(state);
-
-    // 4. Compute acceleration: qddot = invM * Ft
-    Vector6 qddot = body.computeAcceleration(Ft);
-    body.setAcceleration(qddot);
-
-    // 5. Kinematic transformation: ydot[0..5] (body → inertial)
-    const double psi = q[5];  // yaw
-    NV_Ith_S(ydot, 0) = std::cos(psi) * qdot[0] - std::sin(psi) * qdot[1];  // ẋ
-    NV_Ith_S(ydot, 1) = std::sin(psi) * qdot[0] + std::cos(psi) * qdot[1];  // ẏ
-    NV_Ith_S(ydot, 2) = qdot[2];  // ż
-    // ASSUMPTION: small-angle — Euler rates ≈ body angular rates
-    NV_Ith_S(ydot, 3) = qdot[3];  // φ̇ ≈ p
-    NV_Ith_S(ydot, 4) = qdot[4];  // θ̇ ≈ q
-    NV_Ith_S(ydot, 5) = qdot[5];  // ψ̇ = r
-
-    // 6. ydot[6..11] = qddot
-    for (int i = 0; i < 6; ++i)
-        NV_Ith_S(ydot, 6 + i) = qddot[i];
-
-    return 0;
-}
-
-// ---------------------------------------------------------------------------
-// CvodeIntegrator
-// ---------------------------------------------------------------------------
-
-CvodeIntegrator::CvodeIntegrator(const CvodeConfig& config)
-    : config_(config)
-{
-    if (SUNContext_Create(SUN_COMM_NULL, &sunCtx_) != 0)
-        throw std::runtime_error("CvodeIntegrator: SUNContext_Create failed");
-
-    mem_ = CVodeCreate(CV_BDF, sunCtx_);
-    if (!mem_)
-        throw std::runtime_error("CvodeIntegrator: CVodeCreate failed");
-}
-
-CvodeIntegrator::~CvodeIntegrator()
-{
-    if (LS_)     SUNLinSolFree(LS_);
-    if (A_)      SUNMatDestroy(A_);
-    if (y_)      N_VDestroy(y_);
-    if (mem_)    CVodeFree(&mem_);
-    if (sunCtx_) SUNContext_Free(&sunCtx_);
-}
-
-void CvodeIntegrator::initialize(RigidBody6DOF& body, std::vector<ForceModel*>& models)
-{
-    ctx_ = RhsContext{&body, &models};
-    t_   = 0.0;
-
-    y_ = N_VNew_Serial(12, sunCtx_);
-    if (!y_)
-        throw std::runtime_error("CvodeIntegrator: N_VNew_Serial failed");
-
-    const Vector6& q    = body.q();
-    const Vector6& qdot = body.qdot();
-    for (int i = 0; i < 6; ++i)
-    {
-        NV_Ith_S(y_, i)     = q[i];
-        NV_Ith_S(y_, i + 6) = qdot[i];
-    }
-
-    if (CVodeInit(mem_, CvodeIntegrator::rhsCallback, t_, y_) != CV_SUCCESS)
-        throw std::runtime_error("CvodeIntegrator: CVodeInit failed");
-
-    if (CVodeSStolerances(mem_, config_.reltol, config_.abstol) != CV_SUCCESS)
-        throw std::runtime_error("CvodeIntegrator: CVodeSStolerances failed");
-
-    if (CVodeSetMaxNumSteps(mem_, config_.maxSteps) != CV_SUCCESS)
-        throw std::runtime_error("CvodeIntegrator: CVodeSetMaxNumSteps failed");
-
-    if (config_.maxStep > 0.0)
-        CVodeSetMaxStep(mem_, config_.maxStep);
-
-    CVodeSetUserData(mem_, &ctx_);
-
-    A_ = SUNDenseMatrix(12, 12, sunCtx_);
-    if (!A_)
-        throw std::runtime_error("CvodeIntegrator: SUNDenseMatrix failed");
-
-    LS_ = SUNLinSol_Dense(y_, A_, sunCtx_);
-    if (!LS_)
-        throw std::runtime_error("CvodeIntegrator: SUNLinSol_Dense failed");
-
-    if (CVodeSetLinearSolver(mem_, LS_, A_) != CVLS_SUCCESS)
-        throw std::runtime_error("CvodeIntegrator: CVodeSetLinearSolver failed");
-}
-
-void CvodeIntegrator::step(RigidBody6DOF& body, double dt)
-{
-    double t_target = t_ + dt;
-
-    int flag = CVode(mem_, t_target, y_, &t_, CV_NORMAL);
-    if (flag < 0)
-    {
-        throw std::runtime_error(
-            "CvodeIntegrator: CVode failed with flag " + std::to_string(flag));
-    }
-
-    Vector6 q{}, qdot{};
-    for (int i = 0; i < 6; ++i)
-    {
-        q[i]    = NV_Ith_S(y_, i);
-        qdot[i] = NV_Ith_S(y_, i + 6);
-    }
-    body.setState(q, qdot);
-}
-
-void CvodeIntegrator::reset(RigidBody6DOF& body)
-{
-    const Vector6& q    = body.q();
-    const Vector6& qdot = body.qdot();
-    for (int i = 0; i < 6; ++i)
-    {
-        NV_Ith_S(y_, i)     = q[i];
-        NV_Ith_S(y_, i + 6) = qdot[i];
-    }
-    t_ = 0.0;
-    CVodeReInit(mem_, t_, y_);
-}
-
-} // namespace ymir