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>
63 lines
1.7 KiB
C++
63 lines
1.7 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/RestoringForces.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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#include <ymir/naval/PhysicalConstants.h>
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using Catch::Approx;
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using namespace ymir::naval;
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static NavalContext makeCtx()
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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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return ctx;
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}
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TEST_CASE("RestoringForces zero displacement at neutral")
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{
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RestoringConfig cfg{};
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cfg.volumetricWeight = 1000.0 * g; // 1 tonne vessel
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cfg.mass = 1000.0;
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cfg.hydro_rest[2][2] = 1000.0;
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cfg.hydro_rest[3][3] = 5000.0;
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cfg.hydro_rest[4][4] = 5000.0;
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RestoringForces model(cfg);
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NavalContext ctx = makeCtx();
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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// net buoyancy = mass*g - volumetricWeight = 0 → heave = 0
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REQUIRE(forces.f[2] == Approx(0.0).margin(1e-3));
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REQUIRE(forces.f[3] == Approx(0.0).margin(1e-3));
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REQUIRE(forces.f[4] == Approx(0.0).margin(1e-3));
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}
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TEST_CASE("RestoringForces roll spring opposes positive roll")
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{
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RestoringConfig cfg{};
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cfg.volumetricWeight = 0.0;
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cfg.mass = 0.0;
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cfg.hydro_rest[3][3] = 10000.0; // K_roll = 10 kN/rad
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RestoringForces model(cfg);
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ymir::Vector6 q{};
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q[3] = 0.1; // roll = 0.1 rad
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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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model.bindContext(&ctx);
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auto forces = model.compute(bs);
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REQUIRE(forces.f[3] < 0.0); // restoring moment opposes roll
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}
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