vinihcrosaandClaude Sonnet 4.6
dd4e79cbd6
NavalForceModel bridge pattern keeps core::ForceModel interface intact while providing NavalContext (environment, speedToWater, speedToWind, EMA q_avg) to all naval models via bindContext. Force models: Inertial (Coriolis), Restoring (hydrostatic spring), Damping (potential + linear/quadratic), Squat (ICORELS shallow-water), Wind (REGULAR/ACSINKAGE), Current (OBOKATA section-integration and REGULAR with Van der Pol VIM RK4), Thrust (open-water Kt), Rudder (Prandtl lift), Tug (PUSH/PULL/ESCORTING with bilinear table). Wave engine: JONSWAP/PIERSON/REGULAR spectrum, Mitsuyasu cos-2S directional spreading, WAMIT RAO interpolation in WaveForces. NavalSimulation wraps core::Simulation, rebuilds NavalContext each step, maintains EMA (tau=16.5s). 63/63 tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
#include <ymir/naval/forces/InertialForces.h>
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namespace ymir::naval
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{
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InertialForces::InertialForces(const InertialConfig& cfg)
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: cfg_(cfg)
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, M11_(cfg.totalMass[0][0])
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, M22_(cfg.totalMass[1][1])
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, dXa_(cfg.addedMass[0][0] - cfg.addedMass[1][1])
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{
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}
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Forces InertialForces::computeNaval(const BodyState& state, const NavalContext& ctx)
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{
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const double u = state.u();
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const double v = state.v();
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const double w = state.w();
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const double p = state.p();
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const double q = state.q_rot();
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const double r = state.r(); // ψ̇
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const double Vc0 = ctx.speedToWater[0];
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const double Vc1 = ctx.speedToWater[1];
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const double cx = cfg_.cg[0];
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const double cy = cfg_.cg[1];
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const double cz = cfg_.cg[2];
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const double m = cfg_.mass;
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Forces fi;
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fi.f[0] = r * (M22_ * v + dXa_ * Vc1);
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fi.f[1] = r * (-M11_ * u + dXa_ * Vc0);
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fi.f[2] = 0.0;
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fi.f[3] = m * (cz * (u * r - w * p) + cy * (u * q - v * p));
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fi.f[4] = m * (cx * (v * p - u * q) + cz * (v * r - w * q));
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fi.f[5] = r * (cfg_.addedMass[0][5] * v - cfg_.addedMass[1][5] * u);
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return fi;
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}
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} // namespace ymir::naval
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