Merge branch 'main' into feature/vsg-visualization

dav-og · dav-og · commit 978727fd5938 · 2026-01-26T13:10:27.000Z
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -443,6 +443,11 @@ target_include_directories(HydroChronoGUI
         "$<INSTALL_INTERFACE:include>"
 )
 
+if(MSVC)
+  target_compile_options(HydroChronoGUI PRIVATE $<$<COMPILE_LANGUAGE:CXX>:/wd4996>)  # deprecated function or class member
+  target_compile_options(HydroChronoGUI PRIVATE $<$<COMPILE_LANGUAGE:CXX>:/wd4458>)  # declaration hides class member
+endif()
+
 set_target_properties(HydroChronoGUI PROPERTIES POSITION_INDEPENDENT_CODE ON)
 target_link_libraries(HydroChronoGUI
     PUBLIC
diff --git a/data/reference_data/rm3/hc_ref_rm3_decay.txt b/data/reference_data/rm3/hc_ref_rm3_decay.txt
@@ -1,4 +1,4 @@
-Time (s)   Float Heave (m) Plate Heave (m)
+Time(s)        Float_Heave(m) Plate_Heave(m)
 0.01           -0.62000515    -21.29000007
 0.02           -0.62002233    -21.29000032
 0.03           -0.62005382    -21.29000078
diff --git a/include/hydroc/core/hydro_types.h b/include/hydroc/core/hydro_types.h
@@ -23,7 +23,7 @@ namespace hydrochrono::hydro {
  * Force vector [Fx, Fy, Fz, Mx, My, Mz] for surge, sway, heave,
  * roll, pitch, yaw degrees of freedom.
  */
-using GeneralizedForce = Eigen::VectorXd;
+using GeneralizedForce = Eigen::VectorXd;   //// RADU - why is this not an Eigen vector of fixed size 6, or better yet 2 vectors?
 
 /**
  * @brief Forces for all bodies in the system.
diff --git a/include/hydroc/helper.h b/include/hydroc/helper.h
@@ -3,25 +3,20 @@
 
 #pragma once
 
-#include <Eigen/Dense>  // Need for the container function
 #include <fstream>
 #include <iostream>
-#include <hydroc/logging.h>
 #include <string>
 #include <filesystem>  // C++17
 
+#include <Eigen/Dense>  // Need for the container function
+
+#include <hydroc/logging.h>
+
+//// RADU - why not use constants from Chrono?
 #ifndef M_PI
     #define M_PI 3.14159265358979323846
 #endif
 
-/**@brief Returns last index of vector element below value.
- *
- * @param value Input value
- * @param ticks Array of ticks from which to find lower-bound index (assuming ascending order)
- *
- */
-size_t get_lower_index(double value, const std::vector<double>& ticks);
-
 /**@brief Base namespace for HydroChrono library
  *
  */
diff --git a/include/hydroc/io/h5_reader.h b/include/hydroc/io/h5_reader.h
@@ -30,6 +30,8 @@ class H5File;
 
 class H5FileInfo;
 
+//// RADU - these should not be in the global namespace!
+
 // contains "chunked" data from the h5 file, generated from H5FileInfo class
 class HydroData {
   public:
@@ -78,9 +80,10 @@ class HydroData {
     std::vector<IrregularWaveInfo> irreg_wave_data_;
     friend H5FileInfo;
     void resize(int num_bodies);
-    HydroData() = default;
 
   public:
+    HydroData() = default;
+
     // getter function naming conventions: put Matrix, Vector, or Val at end to denote return type, always put body_num
     // argument first, body_num is always 0 indexed, one line return types can be defined here and not in cpp
 
diff --git a/include/hydroc/logging.h b/include/hydroc/logging.h
@@ -12,6 +12,8 @@
 
  */
 
+//// RADU - does this need to be public?
+
 #pragma once
 
 #include <cstddef>
diff --git a/include/hydroc/waves/irregular_wave.h b/include/hydroc/waves/irregular_wave.h
@@ -48,24 +48,8 @@ class IrregularWaves : public WaveBase {
     void AddH5Data(std::vector<HydroData::IrregularWaveInfo>& irreg_h5_data, HydroData::SimulationParameters& sim_data);
 
     double GetElevation(const Eigen::Vector3d& position, double time) override;
-    Eigen::Vector3d GetVelocity(const Eigen::Vector3d& position, double time) override;
-    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time) override;
-    Eigen::Vector2d GetElevationGradientXY(const Eigen::Vector3d& position, double time) const override;
-
-    /// @brief Compute elevation using only the first N frequency components (for visualization).
-    /// 
-    /// This method is optimized for real-time visualization where visual quality can be
-    /// traded for performance. Using fewer components (e.g., 50-100 instead of 1000)
-    /// provides a significant speedup while maintaining a visually acceptable wave surface.
-    /// 
-    /// @param position  World coordinates [m]. Only x-coordinate is used (waves propagate in +X).
-    /// @param time      Simulation time [s].
-    /// @param max_components  Maximum number of frequency components to use.
-    ///                        If <= 0 or >= num_components, all components are used.
-    /// @return Free-surface elevation [m] above mean water level.
-    /// 
-    /// @note Physics calculations should use GetElevation() which uses all components.
-    double GetElevationForVisualization(const Eigen::Vector3d& position, double time, int max_components) const;
+    Eigen::Vector3d GetVelocity(const Eigen::Vector3d& position, double time, double elevation) override;
+    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time, double elevation) override;
 
   private:
     IrregularWaveParams params_;
diff --git a/include/hydroc/waves/regular_wave.h b/include/hydroc/waves/regular_wave.h
@@ -14,26 +14,34 @@
 // Forward declaration for internal utilities (not exposed in public API)
 // Wave utilities are internal implementation details
 
+struct RegularWaveParams {
+    unsigned int num_bodies_;
+    double regular_wave_amplitude_;
+    double regular_wave_omega_;
+    double regular_wave_phase_ = 0.0;
+    bool wave_stretching_      = true;
+};
+
 class RegularWave : public WaveBase {
   public:
     RegularWave();
     explicit RegularWave(unsigned int num_b);
+    explicit RegularWave(const RegularWaveParams& params);
 
     void Initialize() override;
     Eigen::VectorXd GetForceAtTime(double t) override;
     WaveMode GetWaveMode() override { return mode_; }
 
-    double regular_wave_amplitude_ = 0.0;
-    double regular_wave_omega_     = 0.0;
-    double regular_wave_phase_     = 0.0;
-    bool wave_stretching_          = true;
+    //// RADU - eliminate these and use a RegularWaveParams struct (consistent with IrregularWaves)
+    double regular_wave_amplitude_;
+    double regular_wave_omega_;
+    double regular_wave_phase_ = 0.0;
 
     void AddH5Data(std::vector<HydroData::RegularWaveInfo>& reg_h5_data, HydroData::SimulationParameters& sim_data);
 
     double GetElevation(const Eigen::Vector3d& position, double time) override;
-    Eigen::Vector3d GetVelocity(const Eigen::Vector3d& position, double time) override;
-    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time) override;
-    Eigen::Vector2d GetElevationGradientXY(const Eigen::Vector3d& position, double time) const override;
+    Eigen::Vector3d GetVelocity(const Eigen::Vector3d& position, double time, double elevation) override;
+    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time, double elevation) override;
 
   private:
     unsigned int num_bodies_ = 0;
diff --git a/include/hydroc/waves/wave_base.h b/include/hydroc/waves/wave_base.h
@@ -8,6 +8,10 @@
 
 #include <Eigen/Dense>
 
+//// RADU - why is this not in some namespace?
+////      - should these classes be DLL-exported (e.g., to allow AddWave(NoWave))?
+////        if not, why is this a public headers?
+
 enum class WaveMode {
     noWaveCIC = 0,
     regular   = 1,
@@ -34,48 +38,38 @@ class WaveBase {
   public:
     virtual ~WaveBase() = default;
 
-    virtual void Initialize()                                   = 0;
-    virtual Eigen::VectorXd GetForceAtTime(double t)            = 0;
-    virtual WaveMode         GetWaveMode()                      = 0;
-    virtual double           GetElevation(const Eigen::Vector3d& position, double time)    = 0;
-    virtual Eigen::Vector3d  GetVelocity(const Eigen::Vector3d& position, double time)     = 0;
-    virtual Eigen::Vector3d  GetAcceleration(const Eigen::Vector3d& position, double time) = 0;
+    virtual void Initialize()                                                                               = 0;
+    virtual Eigen::VectorXd GetForceAtTime(double t)                                                        = 0;
+    virtual WaveMode GetWaveMode()                                                                          = 0;
+    virtual double GetElevation(const Eigen::Vector3d& position, double time)                               = 0;
+    virtual Eigen::Vector3d GetVelocity(const Eigen::Vector3d& position, double time, double elevation)     = 0;
+    virtual Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time, double elevation) = 0;
+
+    Eigen::Vector3d GetVelocity(const Eigen::Vector3d& position, double time);
+    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d& position, double time);
 
-    /**
-     * @brief Returns the free-surface gradient (∂η/∂x, ∂η/∂y) at the given position and time.
-     *
-     * Used for computing surface normals in visualization. The normal vector can be
-     * constructed as: n = normalize(−∂η/∂x, −∂η/∂y, 1).
-     *
-     * @param position World coordinates (x, y, z) in meters. Only x, y are used.
-     * @param time     Simulation time in seconds.
-     * @return Eigen::Vector2d containing (∂η/∂x, ∂η/∂y), dimensionless.
-     *
-     * @note Default implementation returns (0, 0) for flat surface (NoWave).
-     * @note Current wave models are unidirectional (+X), so ∂η/∂y = 0.
-     */
-    virtual Eigen::Vector2d GetElevationGradientXY(const Eigen::Vector3d& position, double time) const {
-        (void)position;
-        (void)time;
-        return Eigen::Vector2d::Zero();
-    }
+    double mwl_           = 0.0;
+    double g_             = 9.81;
+    double water_depth_   = 0.0;
+    bool wave_stretching_ = true;
+};
 
-    double mwl_         = 0.0;
-    double g_           = 9.81;
-    double water_depth_ = 0.0;
+struct NoWaveParams {
+    unsigned int num_bodies_;
 };
 
 class NoWave : public WaveBase {
   public:
     NoWave();
     explicit NoWave(unsigned int num_b);
+    explicit NoWave(const NoWaveParams& params);
 
     void Initialize() override {}
     Eigen::VectorXd GetForceAtTime(double t) override;
     WaveMode GetWaveMode() override { return mode_; }
     double GetElevation(const Eigen::Vector3d&, double) override { return 0.0; }
-    Eigen::Vector3d GetVelocity(const Eigen::Vector3d&, double) override { return Eigen::Vector3d(0.0, 0.0, 0.0); }
-    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d&, double) override { return Eigen::Vector3d(0.0, 0.0, 0.0); }
+    Eigen::Vector3d GetVelocity(const Eigen::Vector3d&, double, double) override { return Eigen::Vector3d(0.0, 0.0, 0.0); }
+    Eigen::Vector3d GetAcceleration(const Eigen::Vector3d&, double, double) override { return Eigen::Vector3d(0.0, 0.0, 0.0); }
 
   private:
     unsigned int num_bodies_ = 0;
diff --git a/src/hydro/chrono/chrono_state_utils.cpp b/src/hydro/chrono/chrono_state_utils.cpp
@@ -18,6 +18,12 @@ void BuildSystemStateFromChronoBodies(
     for (const auto& body : bodies) {
         BodyState body_state;
         
+        //// RADU - why not simply do:
+        ////body_state.position = body->GetPos().eigen();
+        ////body_state.orientation_rpy = body->GetRot().GetCardanAnglesXYZ().eigen();
+        ////body_state.linear_velocity = body->GetPosDt().eigen();
+        ////body_state.angular_velocity = body->GetAngVelParent().eigen();
+
         // Extract position and orientation
         const chrono::ChVector3d position_world = body->GetPos();
         const chrono::ChVector3d rotation_rpy    = body->GetRot().GetCardanAnglesXYZ();
diff --git a/src/hydro/logging/logger_backend.cpp b/src/hydro/logging/logger_backend.cpp
@@ -14,6 +14,8 @@
 #include <direct.h>
 #elif defined(__APPLE__)
 #include <mach-o/dyld.h>
+#include <sys/stat.h>
+#include <unistd.h>
 #else
 #include <unistd.h>
 #include <limits.h>
diff --git a/src/hydro/utils/helper.cpp b/src/hydro/utils/helper.cpp
@@ -77,22 +77,6 @@ bool hydroc::GetCLIArguments(int argc,
     return true;
 }
 
-size_t get_lower_index(double value, const std::vector<double>& ticks) {
-    auto it = std::upper_bound(ticks.begin(), ticks.end(), value);
-    // get nearest-below index
-    size_t idx = it - ticks.begin() - 1;
-    // remove one if equal to value
-    if (ticks[idx] == value) {
-        idx -= 1;
-    }
-    if (idx <= 0 || idx >= ticks.size() - 1) {
-        throw std::runtime_error("Could not find index for value " + std::to_string(value) + " in array with bounds (" +
-                                 std::to_string(ticks.front()) + ", " + std::to_string(ticks.back()) + ").");
-    }
-    // return index
-    return idx;
-}
-
 using std::filesystem::path;
 
 static path DATADIR{};
diff --git a/src/hydro/waves/irregular_wave.cpp b/src/hydro/waves/irregular_wave.cpp
@@ -18,10 +18,11 @@
 #include <sstream>
 #include <unsupported/Eigen/Splines>
 
-#include <hydroc/helper.h>
 #include <hydroc/logging.h>
 
-IrregularWaves::IrregularWaves(const IrregularWaveParams& params) : params_(params) {}
+IrregularWaves::IrregularWaves(const IrregularWaveParams& params) : params_(params) {
+    wave_stretching_ = params.wave_stretching_;
+}
 
 void IrregularWaves::InitializeIRFVectors() {
     ex_irf_sampled_.resize(params_.num_bodies_);
@@ -151,38 +152,18 @@ void IrregularWaves::AddH5Data(std::vector<HydroData::IrregularWaveInfo>& irreg_
     InitializeIRFVectors();
 }
 
-Eigen::Vector3d IrregularWaves::GetVelocity(const Eigen::Vector3d& position, double time) {
-    auto position_stretched = position;
-    if (params_.wave_stretching_) {
-        position_stretched = GetWheelerStretchedPosition(position, GetElevation(position, time), water_depth_, mwl_);
-    }
-
-    return GetWaterVelocityIrregular(position_stretched,
-                                     time,
-                                     spectrum_frequencies_,
-                                     spectral_densities_,
-                                     spectral_widths_,
-                                     wave_phases_,
-                                     wavenumbers_,
-                                     water_depth_,
-                                     mwl_);
+Eigen::Vector3d IrregularWaves::GetVelocity(const Eigen::Vector3d& position, double time, double elevation) {
+    auto position_stretched =
+        params_.wave_stretching_ ? GetWheelerStretchedPosition(position, elevation, water_depth_, mwl_) : position;
+    return GetWaterVelocityIrregular(position_stretched, time, spectrum_frequencies_, spectral_densities_,
+                                     spectral_widths_, wave_phases_, wavenumbers_, water_depth_, mwl_);
 }
 
-Eigen::Vector3d IrregularWaves::GetAcceleration(const Eigen::Vector3d& position, double time) {
-    auto position_stretched = position;
-    if (params_.wave_stretching_) {
-        position_stretched = GetWheelerStretchedPosition(position, GetElevation(position, time), water_depth_, mwl_);
-    }
-
-    return GetWaterAccelerationIrregular(position_stretched,
-                                         time,
-                                         spectrum_frequencies_,
-                                         spectral_densities_,
-                                         spectral_widths_,
-                                         wave_phases_,
-                                         wavenumbers_,
-                                         water_depth_,
-                                         mwl_);
+Eigen::Vector3d IrregularWaves::GetAcceleration(const Eigen::Vector3d& position, double time, double elevation) {
+    auto position_stretched =
+        params_.wave_stretching_ ? GetWheelerStretchedPosition(position, elevation, water_depth_, mwl_) : position;
+    return GetWaterAccelerationIrregular(position_stretched, time, spectrum_frequencies_, spectral_densities_,
+                                         spectral_widths_, wave_phases_, wavenumbers_, water_depth_, mwl_);
 }
 
 double IrregularWaves::GetElevation(const Eigen::Vector3d& position, double time) {
@@ -455,6 +436,25 @@ void IrregularWaves::CalculateWidthIRF() {
     }
 }
 
+// Return last index of vector element below value.
+// - value: Input value
+// - ticks: Array of ticks from which to find lower-bound index (assuming ascending order)
+static size_t get_lower_index(double value, const std::vector<double>& ticks) {
+    auto it = std::upper_bound(ticks.begin(), ticks.end(), value);
+    // get nearest-below index
+    size_t idx = it - ticks.begin() - 1;
+    // remove one if equal to value
+    if (ticks[idx] == value) {
+        idx -= 1;
+    }
+    if (idx <= 0 || idx >= ticks.size() - 1) {
+        throw std::runtime_error("Could not find index for value " + std::to_string(value) + " in array with bounds (" +
+                                 std::to_string(ticks.front()) + ", " + std::to_string(ticks.back()) + ").");
+    }
+    // return index
+    return idx;
+}
+
 double IrregularWaves::ExcitationConvolution(int body, int dof, double time) {
     double f_ex          = 0.0;
     auto&  irf_time_array  = ex_irf_time_sampled_[body];
diff --git a/src/hydro/waves/regular_wave.cpp b/src/hydro/waves/regular_wave.cpp
diff --git a/src/hydro/waves/wave_base.cpp b/src/hydro/waves/wave_base.cpp
diff --git a/tests/regression/CMakeLists.txt b/tests/regression/CMakeLists.txt
diff --git a/tests/regression/rm3/test_rm3_decay.cpp b/tests/regression/rm3/test_rm3_decay.cpp
diff --git a/tests/regression/test_utils.h b/tests/regression/test_utils.h

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-Time (s) Float Heave (m) Plate Heave (m)`
	`1`	`+Time(s) Float_Heave(m) Plate_Heave(m)`
`2`	`2`	`0.01 -0.62000515 -21.29000007`
`3`	`3`	`0.02 -0.62002233 -21.29000032`
`4`	`4`	`0.03 -0.62005382 -21.29000078`