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>
77 lines
2.0 KiB
C++
77 lines
2.0 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/catch_approx.hpp>
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#include <ymir/naval/NavalSimulation.h>
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#include <ymir/naval/forces/DampingForces.h>
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#include <ymir/naval/forces/RestoringForces.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(double m = 1e6)
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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] = m;
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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("NavalSimulation free drift: vessel stays near origin without forces")
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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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for (int i = 0; i < 10; ++i)
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sim.step(0.5);
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auto state = sim.state();
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for (int i = 0; i < 6; ++i)
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{
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REQUIRE(std::abs(state.q()[i]) < 1e-8);
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REQUIRE(std::abs(state.qdot()[i]) < 1e-8);
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}
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}
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TEST_CASE("NavalSimulation damping force model reduces velocity")
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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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// Body with initial surge velocity
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ymir::Matrix6x6 mass{};
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for (int i = 0; i < 6; ++i) mass[i][i] = 1e6;
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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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qdot[0] = 5.0; // 5 m/s surge
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auto body = std::make_unique<ymir::Body>(mass, damp, q, qdot);
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NavalSimulation sim(std::move(body), cfg);
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DampingForces::Config dcfg{};
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dcfg.linear[0][0] = 1e5; // heavy linear damping
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dcfg.linearDampingCoeff = 0.0; // disable exponential decay for predictable tau
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sim.addNavalForceModel(std::make_unique<DampingForces>(dcfg));
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sim.initialize();
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// Step 10 seconds
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for (int i = 0; i < 20; ++i)
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sim.step(0.5);
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auto state = sim.state();
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REQUIRE(state.u() < 5.0); // velocity reduced
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}
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