main
7
Commits
| Author | SHA1 | Message | Date | |
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 vinihcrosaandClaude Opus 4.8
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d344710305 |
test(physics): golden validation suite + C++ tests in turbo monorepo (#3)
* test(physics): add TMS Dynamics golden validation suite Cross-engine validation of Ymir force models against the TMS Dynamics 3.0 golden dataset (vessel1 VLCC). Strategy is state-in -> force-out: the golden motion trajectory is fed row by row into the matching Ymir force model and the result is compared against the golden per-force decomposition. This is integrator-independent, so it validates the force formula, not the time step. - GoldenCsv.h: header-only CSV reader (column access by name) - Vessel1Params.h: force configs mapped from vessel1.json, with the tonne->SI x1000 unit conversion documented (verified empirically to ~3e-5 on Fr_z) - TestGolden08Restoring.cpp: restoring (Fr_z, Mr_y) + heave damping (Fd_z) - Downsampled golden fixtures under tests/fixtures/golden/08_restoring/ - ymir_golden_tests target wired into tests/CMakeLists.txt Tolerances are set empirically and the residual causes are documented: the restoring divergence (up to ~6.5% Fr_z / ~13.5% Mr_y as pitch grows) is the off-diagonal hydrostatic coupling Ymir omits by design. Findings on squat (diverges ~4 orders — model gap) and the body-frame-flow forces (need TMS heading-convention mapping) are captured under docs/specs/features/. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * build(tests): run C++ suite through the turbo monorepo Make core/ a pnpm workspace package so `pnpm test` (turbo run test) runs the C++ ctest suite alongside the JS vitest suites — one command for everything. - Add "core" to pnpm-workspace.yaml so turbo discovers @ymir/core - core/package.json: add a `build` script (cmake configure + compile) - core/turbo.json: override `test` to dependsOn ["build"] instead of the root's build:wasm, so native ctest does not require Emscripten; cache off (native) - scripts/run-all-tests.sh: standalone runner (cpp/js/e2e flags) for running the C++ suite without touching the wasm/emcc toolchain @ymir/core#build -> @ymir/core#test: 270/270 tests pass via turbo. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * test(physics): add wind golden validation + reconstruct flow convention Extends the cross-engine golden suite to wind drag (scenario 02_wind) and adds the earth->body flow conversion needed by flow-dependent forces. - GoldenFrame.h: nautToBodyFrame mirroring NavalDomain — rotates the scenario environment (speed + nautical direction) into the body frame using the golden heading, so wind/current vectors can be reconstructed from controlDict + the golden trajectory - Vessel1Params.h: vessel1Wind() config with the full Cd(angle) table - TestGolden02Wind.cpp: Fwd_x validated to ~4% across the trajectory (residual is the rho_air constant: Ymir 1.225 vs reference ~1.27); Fwd_y/Mwd_z ~0 bow-on - Fixtures for 02_wind Documents the remaining divergences with measured numbers: current OBOKATA disagrees in sign and magnitude (Fc_x -83kN vs golden +172kN — sectional-area approximation + sign convention), squat off by ~4 orders. See docs/specs/features/golden-validation/. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * chore(graphify): refresh knowledge graph after golden validation work Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * fix(physics): align rho_air, squat sinkage, and damping norm to reference Cross-engine alignment against the TMS Dynamics 3.0 golden dataset (see docs/planning/force-model-alignment/). Verified against the reference engine sources in dynamics/nashville/src/*Forces/. - rho_air 1.225 -> 1.275 (PhysicalConstants.h): matches PhysicalProps.cpp of the reference and closes the ~4% wind gap. Wind golden test tightened to <3%. - SquatForces: fix double division by (rho*g) — the sinkage numerator is now volumetricWeight/(rho*g*L^2) (single division, matching the reference), not nabla_/(rho*g*L^2). Also use heave relative to equilibrium (z + draft) for the depth/seabed clamp, since the reference q[2] is waterline-referenced. Squat goes from ~4 orders of magnitude off to the correct order (partial: <=5% still blocked by the artificial 07 scenario depth dynamics). - DampingForces: the exponential-decay velocity norm now uses all 6 DOF (matching dampingForces/DampingForces.cpp); the surge/sway sign was already correct given Ymir's speedToWater convention. Restoring needs no change: the reference restoring is also diagonal-only, so the residual is a zero-crossing artifact, not a missing off-diagonal term. Full C++ suite: 271/271 green. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * docs(physics): add force-model-alignment spec/design/tasks + findings TLC spec-driven planning for aligning all force models to the golden dataset: - spec.md: 11 requirements (FMA-01..11), tolerances, decisions - design.md: reference formula per model cross-checked with Ymir; root causes - tasks.md: atomic tasks + execution status of the first pass Records the key research corrections: restoring reference is diagonal (no off-diagonal), squat is a double-division bug, current alignment conflicts with self-propelled physics (reverted, needs speedToWater-convention resolution). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * chore(graphify): refresh graph after force-model alignment --------- Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> |
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vinihcrosaandClaude Opus 4.8
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213619b92c |
chore(graphify): refresh knowledge graph after ocean shader change
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> |
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vinihcrosaandClaude Opus 4.8
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46e210437e |
chore(graphify): rebuild graph after thrust/rudder merge
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> |
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vinihcrosa
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2bb65da487 |
Merge branch 'claude/blissful-bardeen-867d5a'
# Conflicts: # graphify-out/.graphify_labels.json # graphify-out/.graphify_root # graphify-out/GRAPH_REPORT.md # graphify-out/cache/ast/015acc382566627aa180319545371357c08f5887a47a4aea29cc93a2882acb93.json # graphify-out/cache/ast/017c920749eabeb0628c353fe1a8651e77bb3c4465ce05c3aa11a2f2adc2aa58.json # graphify-out/cache/ast/02bb404d482818bb396d2a5da6db4e9ae93bbb9f5900dafc00460a3e6ffd0d4d.json # graphify-out/cache/ast/032be818f4f52c0287f5fdbe068ad272dde0bd44c96769dc3e0d9f8b8dc4f3ea.json # graphify-out/cache/ast/0386b8c9d34a328a6151cc6b0cc86ed70fa64d82aa166af5eb4446676dd26626.json # graphify-out/cache/ast/05bec1c738b9dcee56fcfb48c5d8c53b633f920d2537fc5c91ca70c82a99fc1c.json # graphify-out/cache/ast/0619b27196b60692cd1cd33aec075e009aefef502ffd88718246a5e8e7de8b3e.json # graphify-out/cache/ast/07abeabaf24317de02b3abbabf3fc9f4199b01ff63f620be677e67bc4aa8acf7.json # graphify-out/cache/ast/0cd8c5c1913454ab7e9f5591c54091b9ece293f15633f4a6bbd1bd0f24d262c2.json # graphify-out/cache/ast/0f75b9006f5d3bc4d5a1d766c245a46d1b61f219f47a6861ff200cc7aa763414.json # 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vinihcrosaandClaude Opus 4.8
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d7de0e51ff |
feat(physics): match propeller thrust to MATLAB dynamics (D3)
Replace the crude Kt = 0.4*P/D - 0.1 approximation in ThrustForces with
the full open-water model from dynamics/thruster.m::advanceStep:
- advance ratio J = Va/(pitch*n*D) from speedToWater + yaw-rate lever
- clamped piecewise-linear Kt/Kq interpolation on the {J,Kq,Kt} table
- shaft torque Q = rho*|n|*n*D^5*Kq and power P = 2*pi*n*Q/eta_mech
- 10%-per-iter power-saturation loop (<=60 iters, maxPower==0 -> n=0)
- transverse-speed reduction `reduc`
- astern efficiency on reverse-operation XOR(rotation, pitch)
- paddle/side-wash force, active only astern
Extend ThrustForces::ThrusterConfig with openWaterCurve, rotationSpeedMax,
maximumPowerW, mechanicalEfficiency, asternEfficiency, transversalSpeedLimit,
transversalReductionCoeff, paddleCoeffs; add getTorque/getPower telemetry.
Empty table keeps the legacy linear-Kt path so existing tests stay green.
Add Catch2 tests validating Kt/Kq interpolation at J=0 and J=0.25 against
hand-computed values, power saturation, astern penalty, transverse
reduction, and paddle force. All 262 ctest cases pass.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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vinihcrosaandClaude Opus 4.8
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90006bc246 |
feat(physics): match rudder forces to MATLAB Dynamics (table + slipstream)
Replace analytic thin-airfoil Cl/Cd and simplified actuator-disk inflow in RudderForces with the MATLAB rudder.m model: - Interpolate Cl/Cd from the rudder coefficient table vs inflow incidence beta, computed from actual longitudinal + transversal inflow (current, sway, yaw-rate lever). - Propeller slipstream: p1 geometric factor x p2 actuator-disk term with hull wake efficiency; degrades to free-stream when the propeller is unloaded. - RudderConfig carries coefficients table, thrusterDiameter, hullEfficiency, p1 (drops unused aspectRatio). - Wire a representative balanced-rudder table + computed p1 through the WASM binding. Add Catch2 tests: Cl/Cd table lookup at known beta (exact node + interpolated midpoint) and slipstream amplification with an associated thruster. Update existing rudder/integration test configs for the new config shape. Full ctest green (257/257). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> |
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vinihcrosa
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e41bd4b960 | Refactor code structure for improved readability and maintainability |