Merge pull request #86 from Project-SEA-Stack/feature/radiation-state-space

Add state-space radiation damping method

Author: dav-og

CMakeLists.txt

@@ -301,13 +301,16 @@ set(HC_SOURCES
     src/hydro/waves/irregular_wave.cpp
     src/hydro/radiation/radiation_rirf_processing.cpp
     src/hydro/radiation/radiation_rirf_convolution.cpp
+    src/hydro/radiation/radiation_ss_model.cpp
+    src/hydro/radiation/radiation_ss_fitter.cpp
     src/hydro/core/hydro_forces.cpp
     # Chrono coupling layer (bridges Chrono physics with Chrono-free core)
     src/hydro/chrono/added_mass.cpp
     src/hydro/chrono/chrono_state_utils.cpp
     src/hydro/chrono/chrono_hydro_coupler.cpp
     src/hydro/force_components/hydrostatics_component.cpp
     src/hydro/force_components/radiation_component.cpp
+    src/hydro/force_components/radiation_ss_component.cpp
     src/hydro/force_components/excitation_component.cpp
     # Logging module (consolidated under src/hydro/logging/)
     src/hydro/logging/logger_backend.cpp
@@ -319,7 +322,6 @@ set(HC_HEADERS
     ${PROJECT_BINARY_DIR}/hydroc/version.h
     include/hydroc/hydro_system.h
     include/hydroc/helper.h
-    include/hydroc/hydro_forces.h
     include/hydroc/logging.h
     include/hydroc/config/hydro_config.h
     include/hydroc/core/force_component.h

data/demos/run_hydrochrono/iea_sphere/decay_ss/expected/results.still.h5

@@ -0,0 +1,14 @@
+hydrodynamics:
+  bodies:
+    - name: body1
+      h5_file: ../../assets/hydroData/iea_sphere.h5
+
+  waves:
+    type: still
+
+  radiation:
+    method: state_space
+    state_space:
+      max_order: 10
+      r2_threshold: 0.99
+      max_hankel_size: 200

data/demos/run_hydrochrono/iea_sphere/decay_ss/inputs/iea_sphere_decay_ss.hydro.yaml

@@ -0,0 +1,62 @@
+chrono-version: 9.0
+
+model:
+  name: iea_sphere_decay_ss
+  angle_degrees: false
+  
+  data_path:
+    type: RELATIVE
+    root: "."
+
+  bodies:
+    - name: body1
+      location: [0, 0, -1.0]
+      mass: 261800
+      fixed: false
+      inertia:
+        moments: [999, 999, 999]
+        products: [0, 0, 0]
+      com:
+        location: [0, 0, 0]
+        orientation: [0, 0, 0]
+      visualization:
+        shapes:
+          - type: SPHERE
+            radius: 5.0
+            location: [0, 0, 0]
+            color: [0.3, 0.1, 0.1]
+            
+    - name: ground
+      location: [0, 0, 0]
+      mass: 999
+      fixed: true
+      inertia:
+        moments: [999, 999, 999]
+        products: [0, 0, 0]
+      com:
+        location: [0, 0, 0]
+        orientation: [0, 0, 0]
+
+  joints:
+    - name: motion_constraint_heave
+      type: PRISMATIC
+      body1: ground
+      body2: body1
+      location: [0, 0, 0]
+      axis: [0, 0, 1]
+
+  tsdas:
+    - name: heave_spring_damper
+      type: TSDA
+      body1: ground
+      body2: body1
+      point1: [0, 0, 0]
+      point2: [0, 0, 0]
+      spring_coefficient: 0.0
+      damping_coefficient: 0.0
+      free_length: 0.0
+      visualization:
+        type: SPRING
+        radius: 0.05
+        resolution: 80
+        turns: 15

data/demos/run_hydrochrono/iea_sphere/decay_ss/inputs/iea_sphere_decay_ss.model.yaml

@@ -0,0 +1,5 @@
+model_file: iea_sphere_decay_ss.model.yaml
+simulation_file: iea_sphere_decay_ss.simulation.yaml
+hydro_file: iea_sphere_decay_ss.hydro.yaml
+
+output_directory: ../outputs

data/demos/run_hydrochrono/iea_sphere/decay_ss/inputs/iea_sphere_decay_ss.setup.yaml

@@ -0,0 +1,31 @@
+chrono-version: 9.0
+
+simulation:
+  contact_method: SMC
+  
+  time_step: 0.01
+  end_time: 40.0
+  enforce_realtime: false
+  gravity: [0, 0, -9.8]
+  
+  integrator:
+    type: HHT
+    rel_tolerance: 1e-4
+    abs_tolerance_states: 1e-4
+    abs_tolerance_multipliers: 1e2
+    max_iterations: 50
+    use_stepsize_control: false
+    use_modified_newton: false
+
+  solver:
+    type: GMRES
+    max_iterations: 100
+    tolerance: 1e-8
+    enable_diagonal_preconditioner: false
+
+  visualization:
+    type: MODEL_FILE
+    render_fps: 120
+    enable_shadows: true
+    camera:
+      vertical: Z

data/demos/run_hydrochrono/iea_sphere/decay_ss/inputs/iea_sphere_decay_ss.simulation.yaml

@@ -0,0 +1,17 @@
+hydrodynamics:
+  bodies:
+    - name: body1
+      h5_file: ../../assets/hydroData/iea_sphere.h5
+
+  waves:
+    type: irregular
+    height: 2.0
+    period: 8.0
+    seed: 42
+
+  radiation:
+    method: state_space
+    state_space:
+      max_order: 10
+      r2_threshold: 0.99
+      max_hankel_size: 200

data/demos/run_hydrochrono/iea_sphere/irregular_waves_ss/expected/results.irregular.h5

@@ -0,0 +1,46 @@
+chrono-version: 9.0
+
+model:
+  name: iea_sphere_irregular_waves_ss
+  angle_degrees: false
+  
+  data_path:
+    type: RELATIVE
+    root: "."
+
+  bodies:
+    - name: body1
+      location: [0, 0, -2.0]
+      mass: 261800
+      fixed: false
+      inertia:
+        moments: [1.0e6, 1.0e6, 1.0e6]
+        products: [0, 0, 0]
+      com:
+        location: [0, 0, 0]
+        orientation: [0, 0, 0]
+      visualization:
+        shapes:
+          - type: SPHERE
+            radius: 5.0
+            location: [0, 0, 0]
+            color: [0.2, 0.5, 0.7]
+
+    - name: ground
+      location: [0, 0, 0]
+      mass: 999
+      fixed: true
+      inertia:
+        moments: [999, 999, 999]
+        products: [0, 0, 0]
+      com:
+        location: [0, 0, 0]
+        orientation: [0, 0, 0]
+
+  joints:
+    - name: heave_constraint
+      type: PRISMATIC
+      body1: ground
+      body2: body1
+      location: [0, 0, 0]
+      axis: [0, 0, 1]

data/demos/run_hydrochrono/iea_sphere/irregular_waves_ss/inputs/iea_sphere_irregular_waves_ss.hydro.yaml

@@ -0,0 +1,5 @@
+model_file: iea_sphere_irregular_waves_ss.model.yaml
+simulation_file: iea_sphere_irregular_waves_ss.simulation.yaml
+hydro_file: iea_sphere_irregular_waves_ss.hydro.yaml
+
+output_directory: ../outputs