Merge pull request #83 from Project-SEA-Stack/feature/vsg-visualization

Add VSG free-surface visualization and refactor test infrastructure

Author: dav-og

.gitignore

@@ -60,3 +60,4 @@ build-config.json
 /tests/regression/run_hydrochrono/iea_sphere/decay/outputs
 /tests/regression/run_hydrochrono/oswec/decay/outputs
 /tests/regression/run_hydrochrono/rm3/decay/outputs
+/data/demos/run_hydrochrono/**/outputs

CMakeLists.txt

@@ -169,8 +169,7 @@ endif()
 
 find_package(Chrono
              CONFIG REQUIRED
-             COMPONENTS Parsers
-             OPTIONAL_COMPONENTS Irrlicht VSG)
+             COMPONENTS Parsers)
 
 message(STATUS "----\n")
 
@@ -419,6 +418,19 @@ endif()
 if(HYDROCHRONO_ENABLE_VSG)
   set(HCGUI_SOURCES ${HCGUI_SOURCES}
       src/gui/guihelperVSG.cpp
+      src/gui/vsg_gui_component.cpp
+      src/gui/vsg_lighting.cpp
+      src/gui/vsg_materials.cpp
+      src/gui/vsg_water_surface.cpp
+      src/gui/vsg_radiation_surface.cpp
+  )
+  set(HCGUI_HEADERS ${HCGUI_HEADERS}
+      src/gui/vsg_config.h
+      src/gui/vsg_gui_component.h
+      src/gui/vsg_lighting.h
+      src/gui/vsg_materials.h
+      src/gui/vsg_water_surface.h
+      src/gui/vsg_radiation_surface.h
   )
 endif()
 
@@ -431,11 +443,6 @@ 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
@@ -536,6 +543,7 @@ if(HYDROCHRONO_ENABLE_TESTS)
     endif()
 
     add_subdirectory(tests/regression)
+    add_subdirectory(tests/unit)
 endif()
 
 # ===============================================================================
@@ -611,27 +619,33 @@ endif()
 # Flat install tree for public distribution
 option(HC_INSTALL_DEV_DEMOS "Install developer demo executables" OFF)
 
-# Install main CLI only (if built)
+# Install main CLI and project shared libraries (if built)
 if(TARGET run_hydrochrono)
     install(TARGETS run_hydrochrono  CONFIGURATIONS Release DESTINATION bin COMPONENT runtime)
 endif()
+if(TARGET HydroChrono)
+    install(TARGETS HydroChrono      CONFIGURATIONS Release RUNTIME DESTINATION bin COMPONENT runtime)
+endif()
+if(TARGET HydroChronoGUI)
+    install(TARGETS HydroChronoGUI   CONFIGURATIONS Release RUNTIME DESTINATION bin COMPONENT runtime)
+endif()
 
 # On Windows, install DLLs
 if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
     message(STATUS "Set DLLs for installation")
 
-    # Chrono DLLs
-    foreach(tgt ${CHRONO_TARGETS})
-        get_target_property(tgt_DLL ${tgt} IMPORTED_LOCATION_RELEASE)
-        get_target_property(tgt_DLL_d ${tgt} IMPORTED_LOCATION_DEBUG)
-        if(EXISTS ${tgt_DLL})
-            message(STATUS "  Chrono DLL ${tgt_DLL}")
-            install(FILES ${tgt_DLL} DESTINATION bin COMPONENT runtime)
-        endif()
-        if(EXISTS ${tgt_DLL_d})
-            install(FILES ${tgt_DLL_d} DESTINATION bin COMPONENT runtime)
-        endif()
-    endforeach()
+    # Chrono DLLs — glob ALL DLLs from the Chrono bin directory to catch
+    # transitive dependencies (e.g., Chrono_fsitdpf_vsg, yaml-cpp) that may
+    # not be listed in CHRONO_TARGETS.
+    get_target_property(_chrono_core_dll Chrono::Chrono_core IMPORTED_LOCATION_RELEASE)
+    if(_chrono_core_dll)
+        get_filename_component(_chrono_dll_dir "${_chrono_core_dll}" DIRECTORY)
+        file(GLOB _chrono_dlls "${_chrono_dll_dir}/*.dll")
+        foreach(_dll ${_chrono_dlls})
+            message(STATUS "  Chrono DLL ${_dll}")
+            install(FILES "${_dll}" DESTINATION bin COMPONENT runtime)
+        endforeach()
+    endif()
 
     # HDF5 DLLs
     foreach(tgt ${HDF5_TARGETS})
@@ -660,24 +674,42 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
         endif()
     endif()
 
-    # Python DLLs, if Chrono::Parsers depends on it
-    if(CHRONO_PARSERS_PYTHON)
-        find_package(Python3 QUIET COMPONENTS Interpreter Development)
-        if(Python3_Interpreter_FOUND AND Python3_Development_FOUND)
-            #message(STATUS "Found Python and dependencies")
-            #message(STATUS "  Python3_Interpreter_FOUND: ${Python3_Interpreter_FOUND}")
-            #message(STATUS "  Python3_Development_FOUND: ${Python3_Development_FOUND}")
-            get_target_property(tgt_DLL Python3::Python IMPORTED_LOCATION_RELEASE)
-            get_target_property(tgt_DLL_d Python3::Python IMPORTED_LOCATION_DEBUG)
-            if(EXISTS ${tgt_DLL})
-                message(STATUS "  Python DLL ${tgt_DLL}")
-                install(FILES ${tgt_DLL} DESTINATION bin COMPONENT runtime)
+    # VSG DLLs (vsg, vsgImGui, vsgXchange, draco, etc.)
+    if(HYDROCHRONO_ENABLE_VSG)
+        # VSG_DLL_DIR is set by Chrono's find_package when VSG is found
+        # Fall back to deriving from vsg_DIR if VSG_DLL_DIR is not set
+        if(NOT DEFINED VSG_DLL_DIR OR VSG_DLL_DIR STREQUAL "")
+            if(DEFINED vsg_DIR)
+                # vsg_DIR points to lib/cmake/vsg, go up 3 levels to root then into bin
+                get_filename_component(_vsg_root "${vsg_DIR}" DIRECTORY)  # lib/cmake
+                get_filename_component(_vsg_root "${_vsg_root}" DIRECTORY)  # lib
+                get_filename_component(_vsg_root "${_vsg_root}" DIRECTORY)  # root
+                set(VSG_DLL_DIR "${_vsg_root}/bin")
             endif()
-            if(EXISTS ${tgt_DLL_d})
-                install(FILES ${tgt_DLL_d} DESTINATION bin COMPONENT runtime)
+        endif()
+        
+        if(DEFINED VSG_DLL_DIR AND EXISTS "${VSG_DLL_DIR}")
+            file(GLOB _vsg_dlls "${VSG_DLL_DIR}/*.dll")
+            if(_vsg_dlls)
+                message(STATUS "Installing VSG DLLs from: ${VSG_DLL_DIR}")
+                install(FILES ${_vsg_dlls} DESTINATION bin COMPONENT runtime)
             endif()
+        else()
+            message(WARNING "HYDROCHRONO_ENABLE_VSG is ON but VSG_DLL_DIR not found. VSG DLLs will not be packaged.")
         endif()
     endif()
+    
+    # Python DLLs, if Chrono::Parsers depends on it.
+    # Derive the DLL path from the already-found interpreter rather than calling
+    # find_package(Python3 ... Development), which can stall on Windows/conda.
+    if(CHRONO_PARSERS_PYTHON AND Python3_EXECUTABLE)
+        get_filename_component(_py_bin_dir "${Python3_EXECUTABLE}" DIRECTORY)
+        file(GLOB _py_dlls "${_py_bin_dir}/python3*.dll")
+        foreach(_py_dll ${_py_dlls})
+            message(STATUS "  Python DLL ${_py_dll}")
+            install(FILES "${_py_dll}" DESTINATION bin COMPONENT runtime)
+        endforeach()
+    endif()
 
 endif()
 
@@ -699,6 +731,20 @@ install(PROGRAMS ${PROJECT_SOURCE_DIR}/scripts/RUN-TESTS.ps1
         DESTINATION tests COMPONENT python-tests)
 
 # MSVC runtime DLLs and ZIP packaging via CPack
+# InstallRequiredSystemLibraries handles msvcp/vcruntime/ucrt, but not vcomp (OpenMP).
+# Append the OpenMP runtime so it's included in the package.
+if(MSVC AND OpenMP_CXX_FOUND)
+    get_filename_component(_msvc_dir "${CMAKE_CXX_COMPILER}" DIRECTORY)
+    find_file(_vcomp_dll "vcomp140.dll"
+        PATHS "${_msvc_dir}" "${_msvc_dir}/../../../redist/x64" "C:/Windows/System32"
+        NO_DEFAULT_PATH)
+    if(_vcomp_dll)
+        list(APPEND CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS "${_vcomp_dll}")
+        message(STATUS "  OpenMP DLL ${_vcomp_dll}")
+    else()
+        message(WARNING "vcomp140.dll not found — OpenMP runtime will be missing from package")
+    endif()
+endif()
 include(InstallRequiredSystemLibraries)
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_NAME "HydroChrono")

build.ps1

@@ -1,4 +1,4 @@
-<#
+<#
     HydroChrono Build Script
     
     Configures and builds HydroChrono. Dependency paths (Eigen, HDF5, Irrlicht)
@@ -250,7 +250,7 @@ if ($LASTEXITCODE -ne 0) {
 Write-OK "Built in $buildSecs seconds"
 
 # =============================================================================
-# Copy Third-Party DLLs (Irrlicht - not handled by Chrono's DLL copy command)
+# Copy Third-Party DLLs (not handled by Chrono's DLL copy command)
 # =============================================================================
 
 $binPath = ".\build\bin\$BuildType"
@@ -269,6 +269,43 @@ if ($useIrrlicht) {
     }
 }
 
+if ($useVSG) {
+    # Get VSG DLL directory from Chrono config (set by find_package(vsg))
+    # VSG_DLL_DIR is set by Chrono when it finds VSG
+    $vsgDllDir = $null
+    
+    if ($chronoContent -match 'VSG_DLL_DIR\s+([^\s\)]+)') {
+        $vsgDllDir = $Matches[1].Trim('"')
+    }
+    
+    # Fallback: derive from vsg_DIR (lib/cmake/vsg -> bin)
+    if (-not $vsgDllDir -or -not (Test-Path $vsgDllDir)) {
+        if ($chronoContent -match 'vsg_DIR\s+"([^"]+)"') {
+            $vsgCmakeDir = $Matches[1]
+            # Go up from lib/cmake/vsg to root, then into bin
+            $vsgRoot = Split-Path (Split-Path (Split-Path $vsgCmakeDir))
+            $vsgDllDir = Join-Path $vsgRoot "bin"
+        }
+    }
+    
+    if ($vsgDllDir -and (Test-Path $vsgDllDir)) {
+        $vsgDlls = Get-ChildItem -Path $vsgDllDir -Filter "*.dll" -ErrorAction SilentlyContinue
+        $copiedCount = 0
+        foreach ($dll in $vsgDlls) {
+            $destDll = Join-Path $binPath $dll.Name
+            if (-not (Test-Path $destDll)) {
+                Copy-Item $dll.FullName $destDll -Force
+                $copiedCount++
+            }
+        }
+        if ($copiedCount -gt 0) {
+            Write-OK "Copied $copiedCount VSG DLLs from $vsgDllDir"
+        }
+    } else {
+        Write-Warn "VSG enabled but could not find VSG DLL directory"
+    }
+}
+
 # =============================================================================
 # Verify
 # =============================================================================
@@ -325,4 +362,6 @@ Write-Host "========================================`n" -ForegroundColor Green
 
 Write-Host "Output: $binPath" -ForegroundColor Cyan
 Write-Host "Tests:  ctest -C $BuildType -L regression --test-dir build" -ForegroundColor Gray
+Write-Host "        ctest -C $BuildType -L unit       --test-dir build" -ForegroundColor Gray
+Write-Host "        Add -V for verbose output, --output-on-failure for failures only" -ForegroundColor DarkGray
 Write-Host ""

data/textures/water_grid.png

@@ -41,9 +41,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.08;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 1000.0;
 
     // Create user interface

demos/DeepCWind/demo_DeepCWind_decay.cpp

@@ -215,6 +215,7 @@ int main(int argc, char* argv[]) {
         // main simulation loop
         ui.Init(&system, "OSWEC - Regular Waves");
         ui.SetCamera(0, -50, -10, 0, 0, -10);
+        ui.SetWaveModel(my_hydro_inputs);  // Enable animated water surface
 
         while (system.GetChTime() <= simulationDuration) {
             if (ui.IsRunning(timestep) == false) break;

demos/oswec/demo_oswec_reg_waves.cpp

@@ -45,9 +45,7 @@ int main(int argc, char* argv[]) {
 
     double timestep = 0.01;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 40.0;
 

demos/rm3/demo_rm3_decay.cpp

@@ -56,9 +56,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.01;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 40.0;
 
@@ -148,6 +146,7 @@ int main(int argc, char* argv[]) {
     // main simulation loop
     ui.Init(&system, "RM3 - Regular Wave Test");
     ui.SetCamera(0, -50, -10, 0, 0, -10);
+    ui.SetWaveModel(my_hydro_inputs);  // Enable animated water surface
 
     while (system.GetChTime() <= simulationDuration) {
         if (ui.IsRunning(timestep) == false) break;

demos/rm3/demo_rm3_reg_waves.cpp

@@ -43,9 +43,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
 
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 40.0;
 

demos/sphere/demo_sphere_decay.cpp

@@ -39,8 +39,7 @@ int main(int argc, char* argv[]) {
     ChSystemNSC system;
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 600.0;
 
@@ -127,39 +126,12 @@ int main(int argc, char* argv[]) {
     TestHydro hydro_forces(bodies, h5fname);
     hydro_forces.AddWaves(my_hydro_inputs);
 
-    // set up free surface from a mesh
-    auto fse_plane = chrono_types::make_shared<ChBody>();
-    fse_plane->SetPos(ChVector3d(0, 0, 0));
-    fse_plane->SetFixed(true);
-    fse_plane->EnableCollision(false);
-    system.AddBody(fse_plane);
-
-    my_hydro_inputs->SetUpWaveMesh();
-    std::shared_ptr<ChBody> fse_mesh = chrono_types::make_shared<ChBodyEasyMesh>(  //
-        my_hydro_inputs->GetMeshFile(),                                            // file name
-        1000,                                                                      // density
-        false,                                                                     // do not evaluate mass automatically
-        true,                                                                      // create visualization asset
-        false                                                                      // do not collide
-    );
-    fse_mesh->SetMass(1.0);
-    fse_mesh->SetPosDt(my_hydro_inputs->GetWaveMeshVelocity());
-    system.Add(fse_mesh);
-    auto fse_prismatic = chrono_types::make_shared<ChLinkLockPrismatic>();
-    fse_prismatic->Initialize(fse_plane, fse_mesh, ChFramed(ChVector3d(1.0, 0.0, 0.0), QuatFromAngleY(CH_PI_2)));
-    system.AddLink(fse_prismatic);
-
-    // Create a visualization material
-    auto fse_texture = chrono_types::make_shared<ChVisualMaterial>();
-    fse_texture->SetDiffuseColor(ChColor(0.026f, 0.084f, 0.168f));
-    fse_texture->SetOpacity(0.1f);
-    fse_mesh->GetVisualShape(0)->SetMaterial(0, fse_texture);
-
     // for profiling
     auto start = std::chrono::high_resolution_clock::now();
     // main simulation loop
     ui.Init(&system, "Sphere - Irregular Waves Test");
     ui.SetCamera(8, -25, 15, 0, 0, 0);
+    ui.SetWaveModel(my_hydro_inputs);  // Enable animated water surface
 
     while (system.GetChTime() <= simulationDuration) {
         if (ui.IsRunning(timestep) == false) break;