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>
67 lines
2.0 KiB
C++
67 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/wave/WaveForces.h>
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#include <ymir/naval/wave/WaveSpectrum.h>
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#include <ymir/naval/NavalContext.h>
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#include <ymir/core/BodyState.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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static WaveSpectrum makeSpectrum()
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{
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WaveSpectrum::Config cfg{};
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cfg.spectrumType = WaveSpectrumType::REGULAR;
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cfg.significantWaveHeight = 1.0;
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cfg.peakPeriod = 8.0;
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cfg.mainDirection_deg = 0.0;
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cfg.seed = 0;
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cfg.n_frequencies = 1;
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cfg.n_directions = 1;
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return WaveSpectrum(cfg);
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}
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TEST_CASE("WaveForces constructs with WAMIT tables")
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{
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WaveForces::Config cfg{};
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cfg.wavesOriginPosition = {0.0, 0.0, 0.0};
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// Minimal 1x1 RAO table (1 frequency, 1 direction)
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cfg.wamitFrequencies = {0.785}; // rad/s (8s period)
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cfg.wamitDirections = {0.0};
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// RAO magnitude and phase for 6 DOF x 1 freq x 1 dir
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cfg.raoMagnitude.assign(6, std::vector<std::vector<double>>(1, std::vector<double>(1, 0.0)));
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cfg.raoPhase.assign(6, std::vector<std::vector<double>>(1, std::vector<double>(1, 0.0)));
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// Set heave RAO = 1.0 (unit response)
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cfg.raoMagnitude[2][0][0] = 1.0;
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WaveForces model(cfg, makeSpectrum());
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REQUIRE(true); // construction succeeds
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}
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TEST_CASE("WaveForces compute does not throw")
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{
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WaveForces::Config cfg{};
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cfg.wavesOriginPosition = {0.0, 0.0, 0.0};
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cfg.wamitFrequencies = {0.785};
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cfg.wamitDirections = {0.0};
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cfg.raoMagnitude.assign(6, std::vector<std::vector<double>>(1, std::vector<double>(1, 0.0)));
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cfg.raoPhase.assign(6, std::vector<std::vector<double>>(1, std::vector<double>(1, 0.0)));
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WaveForces model(cfg, makeSpectrum());
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NavalContext ctx = makeCtx();
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model.bindContext(&ctx);
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REQUIRE_NOTHROW(model.compute(ctx.state));
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}
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