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vinihcrosaandClaude Opus 4.8 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>
2026-07-06 08:11:23 -03:00

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