vinihcrosaandClaude Opus 4.8
c1d8d10b09
Add a Proa/Ponte/Popa/Boreste/Bombordo selector (the five celso_furtado onboard cameras from vessel_config) shown over the 3D scene. Each camera uses its authored local offset + yaw relative to the selected vessel; switching moves the view. viewStore tracks the active camera; CameraSelector + tests added. 245 web tests green, tsc clean. Verified in browser: switching cameras changes the viewpoint. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Ymir
6-DOF naval physics simulator — rigid-body hydrodynamics for ships and floating platforms under current, wind, waves, thrusters, rudders, and tug interactions.
The engine is domain-agnostic by design. The naval module is the first application.
Repository layout
ymir/
├── apps/
│ ├── server/ real-time server (WebSocket, Protobuf, API handlers)
│ └── fast-time/ batch accelerated simulation (no live clients)
├── libs/
│ ├── common/ math utilities, physical constants, shared types
│ ├── physics/ bodies, force modules, CVODE integrator
│ ├── simulation/ tick orchestration, event system
│ ├── world/ wave engine, environment, terrain state
│ ├── vessel/ vessel config, control modes, actuator state
│ └── persistence/ JSON scenario reader (SQLite planned)
├── tests/ mirrors libs/ structure
└── docs/
├── architecture/ architecture wiki and ADR index
├── guides/ building.md, contributing.md
└── adr/ Architecture Decision Records
Bounded contexts
Each context is a CMake static library. The linker enforces dependency rules — no target may link to a context it does not depend on.
| Context | CMake target | Include prefix | Directory |
|---|---|---|---|
| Common | ymir_common |
ymir/common/ |
libs/common/ |
| Physics | ymir_physics |
ymir/physics/ |
libs/physics/ |
| Simulation | ymir_simulation |
ymir/simulation/ |
libs/simulation/ |
| World | ymir_world |
ymir/world/ |
libs/world/ |
| Vessel | ymir_vessel |
ymir/vessel/ |
libs/vessel/ |
| Persistence | ymir_persistence |
ymir/persistence/ |
libs/persistence/ |
Common — shared math, physical constants, and primitive types; no dependencies on other Ymir libraries.
Physics — rigid-body dynamics: state integration, force accumulation, and all force-module implementations.
Simulation — tick orchestration, real-time vs. fast-time loop, deterministic step sequence, pub/sub event system.
World — state repository for all entities and environment; wave engine, terrain, ambient conditions.
Vessel — vessel configuration, mutable actuator/control state, control modes (drift, LOS, berth maneuver).
Persistence — I/O adapters translating between external formats (JSON) and domain objects.
See docs/architecture/bounded-contexts.md for the full dependency table and responsibility breakdown.
Building
Prerequisites
| Requirement | Version |
|---|---|
| C++ compiler | GCC 9+ or Clang 10+ (C++17) |
| CMake | 3.20+ |
| SUNDIALS | 6.x (SUNDIALS::cvode) |
| Catch2 | 3.x (tests) |
| nlohmann/json | any recent release (persistence) |
Commands
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build
ctest --test-dir build
Further reading
- docs/architecture/README.md — architecture wiki: bounded-context map, data-flow diagrams, ADR index
- AGENTS.md — contributor rules, coding standards, include conventions, commit discipline