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>
60 lines
1.6 KiB
C++
60 lines
1.6 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/InertialForces.h>
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#include <ymir/naval/NavalContext.h>
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#include <ymir/core/BodyState.h>
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#include <ymir/core/Types.h>
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using Catch::Approx;
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using namespace ymir::naval;
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static NavalContext makeCtx(double r = 0.0, double u = 0.0, double v = 0.0)
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{
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ymir::Vector6 q{};
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ymir::Vector6 qdot{};
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qdot[0] = u;
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qdot[1] = v;
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qdot[5] = r;
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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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return ctx;
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}
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TEST_CASE("InertialForces constructs without crash")
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{
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InertialConfig cfg{};
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for (int i = 0; i < 6; ++i) cfg.totalMass[i][i] = 1e6;
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cfg.mass = 1e6;
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InertialForces model(cfg);
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REQUIRE(true);
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}
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TEST_CASE("InertialForces Coriolis coupling r·v produces surge force")
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{
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InertialConfig cfg{};
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// totalMass = body mass + added mass diagonal
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for (int i = 0; i < 6; ++i) cfg.totalMass[i][i] = 1000.0;
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cfg.totalMass[0][0] = 1100.0; // body + Xa
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cfg.totalMass[1][1] = 1200.0; // body + Ya
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cfg.mass = 1000.0;
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for (int i = 0; i < 6; ++i)
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for (int j = 0; j < 6; ++j)
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cfg.addedMass[i][j] = 0.0;
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cfg.addedMass[0][0] = 100.0;
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cfg.addedMass[1][1] = 200.0;
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NavalContext ctx = makeCtx(0.5, 0.0, 2.0); // r=0.5 rad/s, v=2 m/s
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InertialForces model(cfg);
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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// f[0] = r * (M22*v + dXa*Vc1), with r=0.5, v=2, M22=1200, dXa=100-200=-100
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// f[0] = 0.5 * (1200*2 + 0) = 1200
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REQUIRE(forces.f[0] == Approx(1200.0).margin(1.0));
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}
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