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>
58 lines
1.5 KiB
C++
58 lines
1.5 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/SquatForces.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/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(double u = 0.0, double depth = 20.0)
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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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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.waterDepth = depth;
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ctx.speedToWater[0] = u;
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return ctx;
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}
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TEST_CASE("SquatForces zero at rest")
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{
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SquatForces::Config cfg{};
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cfg.blockCoefficient = 0.75;
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cfg.volumetricWeight = 1e6 * g;
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cfg.length_BP = 100.0;
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cfg.hydroRestHeave = 1e5;
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SquatForces model(cfg);
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NavalContext ctx = makeCtx(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[2] == Approx(0.0).margin(1e-6));
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}
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TEST_CASE("SquatForces sinkage negative heave when moving")
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{
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SquatForces::Config cfg{};
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cfg.blockCoefficient = 0.75;
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cfg.volumetricWeight = 1e6 * g;
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cfg.length_BP = 100.0;
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cfg.hydroRestHeave = 1e6; // large stiffness to amplify
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SquatForces model(cfg);
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// Speed = 3 m/s in 20 m water
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NavalContext ctx = makeCtx(3.0, 20.0);
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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// Squat sinks vessel → negative heave force (or zero; magnitude uncertain)
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REQUIRE(forces.f[2] <= 0.0);
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}
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