vinihcrosaandClaude Sonnet 4.6
b11c4be0c5
Move files from flat core/naval/adapters layout into libs/{common,physics,simulation,vessel,world,persistence} with updated namespaces, CMakeLists, tests, README, AGENTS.md, and Doxyfile.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
68 lines
1.7 KiB
C++
68 lines
1.7 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/catch_approx.hpp>
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#include <ymir/simulation/NavalSimulation.h>
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#include <ymir/physics/forces/DampingForces.h>
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#include <ymir/physics/forces/RestoringForces.h>
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#include <ymir/physics/RigidBody6DOF.h>
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#include <ymir/common/Types.h>
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#include <memory>
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using Catch::Approx;
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using namespace ymir::naval;
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static std::unique_ptr<ymir::RigidBody6DOF> makeTestBody(
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double m = 1e6, double u0 = 0.0, const ymir::CvodeConfig& cfg = {})
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{
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ymir::Matrix6x6 mass{};
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for (int i = 0; i < 6; ++i) mass[i][i] = m;
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ymir::Matrix6x6 added{};
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ymir::Vector6 q{};
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ymir::Vector6 qdot{};
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qdot[0] = u0;
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return std::make_unique<ymir::RigidBody6DOF>(0, mass, added, q, qdot, cfg);
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}
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TEST_CASE("NavalSimulation free drift: vessel stays near origin without forces")
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{
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ymir::CvodeConfig cfg{};
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cfg.reltol = 1e-6;
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cfg.abstol = 1e-9;
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NavalSimulation sim(makeTestBody(1e6, 0.0, cfg));
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sim.initialize();
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for (int i = 0; i < 10; ++i)
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sim.step(0.5);
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auto state = sim.state();
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for (int i = 0; i < 6; ++i)
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{
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REQUIRE(std::abs(state.q()[i]) < 1e-8);
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REQUIRE(std::abs(state.qdot()[i]) < 1e-8);
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}
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}
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TEST_CASE("NavalSimulation damping force model reduces velocity")
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{
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ymir::CvodeConfig cfg{};
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cfg.reltol = 1e-6;
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cfg.abstol = 1e-9;
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NavalSimulation sim(makeTestBody(1e6, 5.0, cfg));
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DampingForces::Config dcfg{};
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dcfg.linear[0][0] = 1e5;
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dcfg.linearDampingCoeff = 0.0;
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sim.addNavalForceModel(std::make_unique<DampingForces>(dcfg));
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sim.initialize();
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for (int i = 0; i < 20; ++i)
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sim.step(0.5);
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auto state = sim.state();
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REQUIRE(state.u() < 5.0);
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}
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