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>
109 lines
3.0 KiB
C++
109 lines
3.0 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/catch_approx.hpp>
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#include <ymir/naval/forces/CurrentForces.h>
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#include <ymir/naval/NavalContext.h>
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#include <ymir/core/BodyState.h>
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using Catch::Approx;
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using namespace ymir::naval;
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static CurrentForces::Config makeObokataCfg()
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{
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CurrentForces::Config cfg{};
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cfg.model = CurrentModel::OBOKATA;
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cfg.length_BP = 100.0;
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cfg.beam = 20.0;
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cfg.frontalHeight = 5.0;
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cfg.lateralHeight = 5.0;
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cfg.n_sections = 10;
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cfg.angles = {0.0, 90.0, 180.0, 270.0, 360.0};
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cfg.cdx = {1.0, 0.0, -1.0, 0.0, 1.0};
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cfg.cdy = {0.0, 1.0, 0.0, -1.0, 0.0};
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cfg.cdz = {0.0, 0.0, 0.0, 0.0, 0.0};
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return cfg;
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}
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static CurrentForces::Config makeRegularCfg()
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{
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CurrentForces::Config cfg{};
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cfg.model = CurrentModel::REGULAR;
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cfg.length_BP = 100.0;
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cfg.frontalArea = 200.0;
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cfg.lateralArea = 1000.0;
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cfg.st = 0.2;
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cfg.ez = 0.3;
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cfg.az = 0.1;
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cfg.clO = 1.0;
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cfg.angles = {0.0, 90.0, 180.0, 270.0, 360.0};
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cfg.cdx = {1.0, 0.0, -1.0, 0.0, 1.0};
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cfg.cdy = {0.0, 1.0, 0.0, -1.0, 0.0};
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cfg.cdz = {0.0, 0.0, 0.0, 0.0, 0.0};
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return cfg;
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}
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static NavalContext makeCtx(double vc_u, double vc_v)
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{
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ymir::Vector6 q{};
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ymir::Vector6 qdot{};
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ymir::BodyState bs(q, qdot, 0.0, 0.1);
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NavalContext ctx{};
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ctx.state = bs;
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ctx.speedToWater[0] = vc_u;
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ctx.speedToWater[1] = vc_v;
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return ctx;
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}
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TEST_CASE("CurrentForces OBOKATA zero at rest")
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{
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CurrentForces model(makeObokataCfg());
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NavalContext ctx = makeCtx(0.0, 0.0);
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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for (int i = 0; i < 6; ++i)
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REQUIRE(forces.f[i] == Approx(0.0).margin(1e-10));
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}
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TEST_CASE("CurrentForces OBOKATA current from ahead produces surge force")
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{
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CurrentForces model(makeObokataCfg());
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NavalContext ctx = makeCtx(2.0, 0.0);
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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REQUIRE(forces.f[0] != Approx(0.0).margin(1e-4));
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}
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TEST_CASE("CurrentForces REGULAR zero at rest")
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{
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CurrentForces model(makeRegularCfg());
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NavalContext ctx = makeCtx(0.0, 0.0);
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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for (int i = 0; i < 6; ++i)
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REQUIRE(forces.f[i] == Approx(0.0).margin(1e-10));
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}
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TEST_CASE("CurrentForces VDP resetState zeros oscillator")
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{
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CurrentForces model(makeRegularCfg());
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NavalContext ctx = makeCtx(2.0, 0.0);
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model.bindContext(&ctx);
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// Run a few steps to excite VDP
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for (int i = 0; i < 10; ++i)
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model.compute(ctx.state);
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// Reset should zero the VDP state
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model.resetState();
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// After reset, VDP output starts from zero again
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NavalContext ctx2 = makeCtx(0.0, 0.0);
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model.bindContext(&ctx2);
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auto forces = model.compute(ctx2.state);
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for (int i = 0; i < 6; ++i)
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REQUIRE(forces.f[i] == Approx(0.0).margin(1e-10));
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}
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