Initialize variables

Author: dav-og

include/hydroc/core/system_state.h

@@ -26,10 +26,10 @@ namespace hydrochrono::hydro {
  * and angular velocity for one body in the system.
  */
 struct BodyState {
-    Eigen::Vector3d position;        // Position in world frame (x, y, z)
-    Eigen::Vector3d orientation_rpy; // Orientation as roll-pitch-yaw angles (radians)
-    Eigen::Vector3d linear_velocity;  // Linear velocity in world frame (m/s)
-    Eigen::Vector3d angular_velocity; // Angular velocity in parent frame (rad/s)
+    Eigen::Vector3d position = Eigen::Vector3d::Zero();        // Position in world frame (x, y, z)
+    Eigen::Vector3d orientation_rpy = Eigen::Vector3d::Zero(); // Orientation as roll-pitch-yaw angles (radians)
+    Eigen::Vector3d linear_velocity = Eigen::Vector3d::Zero();  // Linear velocity in world frame (m/s)
+    Eigen::Vector3d angular_velocity = Eigen::Vector3d::Zero(); // Angular velocity in parent frame (rad/s)
 };
 
 /**

include/hydroc/hydro_system.h

@@ -115,8 +115,8 @@ class ComponentFunc : public chrono::ChFunction {
     virtual double GetVal(double x) const override;
 
   private:
-    ForceFunc6d* base_;  ///< Pointer to the full 6D force on the body.
-    int index_;          ///< Index representing force degree of freedom on the body.
+    ForceFunc6d* base_ = nullptr;  ///< Pointer to the full 6D force on the body.
+    int index_ = 0;          ///< Index representing force degree of freedom on the body.
 };
 
 /**
@@ -176,13 +176,13 @@ class ForceFunc6d {
 
     /// Body index in the system (1-indexed, parsed from Chrono body name "bodyN").
     /// This matches Chrono's body naming convention where bodies are named body1, body2, etc.
-    int b_num_;
+    int b_num_ = 0;
 
     ComponentFunc forces_[kDofPerBody];                       ///< Forces for each degree of freedom.
     std::shared_ptr<ComponentFunc> force_ptrs_[kDofPerBody];  ///< Pointers to the forces.
     std::shared_ptr<chrono::ChForce> chrono_force_;  ///< Chrono force for the body.
     std::shared_ptr<chrono::ChForce> chrono_torque_; ///< Chrono torque for the body.
-    HydroSystem* all_hydro_forces_;                 ///< Pointer to HydroSystem for calculations.
+    HydroSystem* all_hydro_forces_ = nullptr;                 ///< Pointer to HydroSystem for calculations.
 };
 
 // Forward declaration of ChLoadAddedMass (defined in added_mass.h, included in .cpp)
@@ -425,6 +425,12 @@ class HydroSystem {
 
     // Time tracking for force caching
     double prev_time;
+    
+    // Debug counter for printing first few timesteps
+    int debug_call_count_ = 0;
+    
+    // Track if we've already reported NaN (to avoid spamming)
+    bool nan_reported_ = false;
 
     // Cached SystemState: built once per time step and reused by all force computations
     hydrochrono::hydro::SystemState cached_state_;

include/hydroc/io/h5_reader.h

@@ -35,10 +35,10 @@ class HydroData {
   public:
     struct BodyInfo {
         std::string body_name;
-        int body_num;
-        double disp_vol;
+        int body_num = 0;
+        double disp_vol = 0.0;
         Eigen::VectorXd rirf_time_vector;
-        double rirf_timestep;
+        double rirf_timestep = 0.0;
         Eigen::VectorXd cg;
         Eigen::VectorXd cb;
         Eigen::MatrixXd lin_matrix;
@@ -47,9 +47,9 @@ class HydroData {
     };
     struct SimulationParameters {
         std::string h5_file_name;
-        double rho;
-        double g;
-        double water_depth;
+        double rho = 0.0;
+        double g = 0.0;
+        double water_depth = 0.0;
     };
     struct RegularWaveInfo {
         Eigen::VectorXd freq_list;

include/hydroc/waves/irregular_wave.h

@@ -13,9 +13,9 @@
 #include <vector>
 
 struct IrregularWaveParams {
-    unsigned int num_bodies_;
-    double simulation_dt_;
-    double simulation_duration_;
+    unsigned int num_bodies_ = 0;
+    double simulation_dt_ = 0.0;
+    double simulation_duration_ = 0.0;
     double ramp_duration_ = 0.0;
     std::string eta_file_path_;
     double wave_height_             = 0.0;
@@ -60,7 +60,7 @@ class IrregularWaves : public WaveBase {
     std::vector<double> time_data_;
     std::vector<double> free_surface_elevation_sampled_;
     std::vector<double> free_surface_time_sampled_;
-    bool spectrumCreated_;
+    bool spectrumCreated_ = false;
 
     const WaveMode mode_ = WaveMode::irregular;
     std::vector<HydroData::IrregularWaveInfo> wave_info_;

include/hydroc/waves/regular_wave.h

@@ -35,13 +35,13 @@ class RegularWave : public WaveBase {
     Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time) override;
 
   private:
-    unsigned int num_bodies_;
+    unsigned int num_bodies_ = 0;
     const WaveMode mode_ = WaveMode::regular;
     std::vector<HydroData::RegularWaveInfo> wave_info_;
     Eigen::VectorXd excitation_force_mag_;
     Eigen::VectorXd excitation_force_phase_;
     Eigen::VectorXd force_;
-    double wavenumber_;
+    double wavenumber_ = 0.0;
 
     double GetOmegaDelta() const;
     double GetExcitationMagInterp(int b, int i, int j, double freq_index_des) const;

include/hydroc/waves/wave_base.h

@@ -43,7 +43,7 @@ class NoWave : public WaveBase {
     Eigen::Vector3d GetAcceleration(const Eigen::Vector3d&, double) override { return Eigen::Vector3d(0.0, 0.0, 0.0); }
 
   private:
-    unsigned int num_bodies_;
+    unsigned int num_bodies_ = 0;
     const WaveMode mode_ = WaveMode::noWaveCIC;
 };
 

src/hydro/force_components/radiation_component.h

@@ -80,7 +80,7 @@ class RadiationComponent : public IHydroForceComponent {
     Eigen::VectorXd rirf_width_vector_;
 
     // Processed RIRF tensors (for TaperedDirect mode)
-    bool rirf_processed_ready_;
+    bool rirf_processed_ready_ = false;
     std::vector<Eigen::Tensor<double, 3>> rirf_processed_;
 
     static constexpr int kDofPerBody = 6;

src/hydro/radiation/radiation_rirf_convolution.cpp

@@ -170,8 +170,10 @@ std::vector<double> RadiationRirfConvolution::ComputeForces(
             // Multibody loop: process each body's velocity history
             for (int body_index = 0; body_index < num_bodies_; ++body_index) {
                 const auto& velocity_history_body = velocity_history_[body_index];
-                if (velocity_history_body.size() <= history_index_local) {
-                    continue;  // inconsistent; should not happen in normal flow
+                // InterpolateVelocity6D accesses [history_index_local] and [history_index_local + 1]
+                // so we need at least history_index_local + 2 elements
+                if (velocity_history_body.size() < history_index_local + 2) {
+                    continue;  // not enough history entries for interpolation
                 }
 
                 double interpolated_velocity_dof[kDofPerBody];
@@ -231,8 +233,10 @@ std::vector<double> RadiationRirfConvolution::ComputeForces(
         // Multibody loop: process each body's velocity history
         for (int body_index = 0; body_index < num_bodies_; ++body_index) {
             const auto& velocity_history_body = velocity_history_[body_index];
-            if (velocity_history_body.size() <= history_index) {
-                continue;  // skip if inconsistent; should not happen in normal flow
+            // InterpolateVelocity6D accesses [history_index] and [history_index + 1]
+            // so we need at least history_index + 2 elements
+            if (velocity_history_body.size() < history_index + 2) {
+                continue;  // not enough history entries for interpolation
             }
 
             double interpolated_velocity_dof[kDofPerBody];