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>
80 lines
1.9 KiB
C++
80 lines
1.9 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/catch_approx.hpp>
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#include <ymir/naval/NavalContext.h>
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#include <ymir/naval/NavalEnvironment.h>
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#include <ymir/naval/NavalSimulation.h>
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#include <ymir/naval/PhysicalConstants.h>
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#include <ymir/core/Body.h>
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#include <ymir/core/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::Body> makeTestBody()
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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] = 1000.0;
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ymir::Matrix6x6 damp{};
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ymir::Vector6 q{};
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ymir::Vector6 qdot{};
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return std::make_unique<ymir::Body>(mass, damp, q, qdot);
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}
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TEST_CASE("NavalContext default construction")
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{
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NavalContext ctx{};
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REQUIRE(ctx.waterDepth == Approx(100.0));
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REQUIRE(ctx.tide == Approx(0.0));
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for (int i = 0; i < 6; ++i)
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{
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REQUIRE(ctx.speedToWater[i] == Approx(0.0));
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REQUIRE(ctx.speedToWind[i] == Approx(0.0));
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REQUIRE(ctx.q_avg[i] == Approx(0.0));
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}
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}
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TEST_CASE("PhysicalConstants values")
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{
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REQUIRE(g == Approx(9.81));
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REQUIRE(rho_water == Approx(1025.0));
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REQUIRE(rho_air == Approx(1.225));
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}
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TEST_CASE("NavalEnvironment default values")
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{
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NavalEnvironment env{};
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REQUIRE(env.currentSpeed == Approx(0.0));
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REQUIRE(env.windSpeed == Approx(0.0));
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REQUIRE(env.waterDepth == Approx(100.0));
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REQUIRE(env.tide == Approx(0.0));
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}
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TEST_CASE("NavalSimulation constructs without crash")
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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(), cfg);
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sim.initialize();
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REQUIRE(sim.time() == Approx(0.0));
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}
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TEST_CASE("NavalSimulation step advances time")
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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(), cfg);
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sim.initialize();
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sim.step(0.1);
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REQUIRE(sim.time() == Approx(0.1).margin(1e-10));
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}
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