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>
73 lines
2.0 KiB
C++
73 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/forces/WindForces.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 WindForces::Config makeWindCfg()
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{
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WindForces::Config cfg{};
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cfg.model = WindModel::REGULAR;
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cfg.frontalArea = 200.0;
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cfg.lateralArea = 1000.0;
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cfg.frontalHeight = 5.0;
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cfg.lateralHeight = 5.0;
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cfg.length_BP = 100.0;
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cfg.beam = 20.0;
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cfg.draft = 8.0;
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// Simple Cd table: 0 and 360 degrees both Cd=1.0
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cfg.angles = {0.0, 90.0, 180.0, 270.0, 360.0};
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cfg.cdx = {1.0, 0.0, -1.0, 0.0, 1.0};
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cfg.cdy = {0.0, 1.0, 0.0, -1.0, 0.0};
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cfg.cdz = {0.0, 0.0, 0.0, 0.0, 0.0};
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return cfg;
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}
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static NavalContext makeCtx(double wind_u, double wind_v)
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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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ctx.speedToWind[0] = wind_u;
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ctx.speedToWind[1] = wind_v;
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return ctx;
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}
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TEST_CASE("WindForces zero wind produces no force")
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{
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WindForces model(makeWindCfg());
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NavalContext ctx = makeCtx(0.0, 0.0);
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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for (int i = 0; i < 6; ++i)
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REQUIRE(forces.f[i] == Approx(0.0).margin(1e-12));
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}
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TEST_CASE("WindForces head wind produces surge drag")
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{
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WindForces model(makeWindCfg());
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NavalContext ctx = makeCtx(10.0, 0.0); // wind from ahead
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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REQUIRE(forces.f[0] != Approx(0.0).margin(1e-3));
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REQUIRE(std::abs(forces.f[1]) < std::abs(forces.f[0])); // surge dominant
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}
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TEST_CASE("WindForces beam wind produces sway force")
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{
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WindForces model(makeWindCfg());
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NavalContext ctx = makeCtx(0.0, 10.0); // wind from beam
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model.bindContext(&ctx);
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auto forces = model.compute(ctx.state);
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REQUIRE(forces.f[1] != Approx(0.0).margin(1e-3));
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}
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