Merge branch 'feature/chrono-fsi-interface'

Author: dav-og

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.

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
  *
  */

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
 

include/hydroc/logging.h

@@ -12,6 +12,8 @@
 
  */
 
+//// RADU - does this need to be public?
+
 #pragma once
 
 #include <cstddef>

include/hydroc/waves/irregular_wave.h

@@ -51,8 +51,8 @@ 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::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_;

include/hydroc/waves/regular_wave.h

@@ -14,25 +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_; }
 
+    //// 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;
-    bool wave_stretching_      = true;
 
     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::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_;

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,
@@ -18,29 +22,38 @@ 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);
 
-    double mwl_         = 0.0;
-    double g_           = 9.81;
-    double water_depth_ = 0.0;
+    double mwl_           = 0.0;
+    double g_             = 9.81;
+    double water_depth_   = 0.0;
+    bool wave_stretching_ = true;
+};
+
+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_;

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();

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>

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{};