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Add irregular wave regression tests for sphere and OSWEC
Add irregular wave regression tests for sphere and OSWEC (convolution + state-space), with comparison scripts, reference data, and report integration.
1 parent d846171 commit c5229d0

11 files changed

Lines changed: 67263 additions & 1 deletion

‎data/reference_data/oswec/hc_ref_oswec_irreg_waves.txt‎

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‎data/reference_data/oswec/hc_ref_oswec_irreg_waves_ss.txt‎

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‎data/reference_data/sphere/hc_ref_sphere_irreg_waves_ss.txt‎

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‎tests/regression/CMakeLists.txt‎

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@@ -75,13 +75,16 @@ build_regression_test(sphere sphere_decay FALSE)
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build_regression_test(sphere sphere_decay_ss FALSE)
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build_regression_test(sphere sphere_reg_waves TRUE)
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build_regression_test(sphere sphere_irreg_waves FALSE)
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build_regression_test(sphere sphere_irreg_waves_ss FALSE)
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build_regression_test(sphere sphere_irreg_waves_eta FALSE)
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build_regression_test(sphere sphere_irreg_waves_eta_consistency FALSE)
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build_regression_test(f3of f3of_dt1 FALSE)
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build_regression_test(f3of f3of_dt2 FALSE)
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build_regression_test(f3of f3of_dt3 FALSE)
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build_regression_test(oswec oswec_decay FALSE)
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build_regression_test(oswec oswec_decay_ss FALSE)
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build_regression_test(oswec oswec_irreg_waves FALSE)
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build_regression_test(oswec oswec_irreg_waves_ss FALSE)
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build_regression_test(oswec oswec_reg_waves TRUE)
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build_regression_test(rm3 rm3_decay FALSE)
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build_regression_test(rm3 rm3_reg_waves FALSE)
@@ -105,5 +108,5 @@ set_tests_properties(
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PROPERTIES
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LABELS "regression;report;documentation;core"
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ENVIRONMENT "PATH=${Python3_ROOT_DIR};$ENV{PATH};HYDROCHRONO_BUILD_DIR=${CMAKE_BINARY_DIR}"
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DEPENDS "sphere_decay_regression;sphere_decay_ss_regression;sphere_reg_waves_regression;sphere_irreg_waves_regression;sphere_irreg_waves_eta_regression;sphere_irreg_waves_eta_consistency_regression;f3of_dt1_regression;f3of_dt2_regression;f3of_dt3_regression;oswec_decay_regression;oswec_decay_ss_regression;oswec_reg_waves_regression;rm3_decay_regression;rm3_reg_waves_regression"
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DEPENDS "sphere_decay_regression;sphere_decay_ss_regression;sphere_reg_waves_regression;sphere_irreg_waves_regression;sphere_irreg_waves_ss_regression;sphere_irreg_waves_eta_regression;sphere_irreg_waves_eta_consistency_regression;f3of_dt1_regression;f3of_dt2_regression;f3of_dt3_regression;oswec_decay_regression;oswec_decay_ss_regression;oswec_irreg_waves_regression;oswec_irreg_waves_ss_regression;oswec_reg_waves_regression;rm3_decay_regression;rm3_reg_waves_regression"
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)

‎tests/regression/oswec/compare_oswec_irreg_waves.py‎

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@@ -0,0 +1,41 @@
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#!/usr/bin/env python3
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"""
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OSWEC Irregular Waves Regression Test Comparison
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Compares OSWEC irregular wave results (convolution radiation) against reference data.
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"""
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import sys
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import os
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from pathlib import Path
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sys.path.append(os.path.join(os.path.dirname(__file__), '../utilities'))
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from compare_template import run_comparison
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if __name__ == '__main__':
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if len(sys.argv) != 3:
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print("Usage: python compare_oswec_irreg_waves.py <reference_file> <results_file>")
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sys.exit(1)
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ref_file = sys.argv[1]
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results_file = sys.argv[2]
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print("Reference file: ", ref_file)
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print("Results file: ", results_file)
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test_file_path = Path(results_file)
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plots_dir = test_file_path.parent / "plots"
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plots_dir.mkdir(parents=True, exist_ok=True)
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print(f"Plot will be saved to: {plots_dir}")
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test_name = "OSWEC Irregular Waves"
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y_label = "Flap Pitch (radians)"
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executable_patterns = ["oswec_irreg_waves_test", "oswec_irreg_waves"]
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pass_criteria = (1e-4, 0.02)
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n1, n2, passed = run_comparison(
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ref_file, results_file, test_name, y_label,
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executable_patterns, pass_criteria,
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status_name="oswec_irreg_waves"
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)
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sys.exit(0 if passed else 1)

‎tests/regression/oswec/compare_oswec_irreg_waves_ss.py‎

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#!/usr/bin/env python3
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"""
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OSWEC Irregular Waves (State-Space Radiation) Regression Test Comparison
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Compares OSWEC irregular wave results using state-space radiation approximation
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against reference data. Tolerances are slightly relaxed relative to the
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convolution test since state-space is an O(1) approximation.
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"""
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import sys
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import os
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from pathlib import Path
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sys.path.append(os.path.join(os.path.dirname(__file__), '../utilities'))
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from compare_template import run_comparison
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if __name__ == '__main__':
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if len(sys.argv) != 3:
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print("Usage: python compare_oswec_irreg_waves_ss.py <reference_file> <results_file>")
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sys.exit(1)
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ref_file = sys.argv[1]
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results_file = sys.argv[2]
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print("Reference file: ", ref_file)
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print("Results file: ", results_file)
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test_file_path = Path(results_file)
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plots_dir = test_file_path.parent / "plots"
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plots_dir.mkdir(parents=True, exist_ok=True)
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print(f"Plot will be saved to: {plots_dir}")
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test_name = "OSWEC Irregular Waves (State-Space)"
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y_label = "Flap Pitch (radians)"
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executable_patterns = ["oswec_irreg_waves_ss_test", "oswec_irreg_waves_ss"]
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pass_criteria = (5e-4, 0.05)
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n1, n2, passed = run_comparison(
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ref_file, results_file, test_name, y_label,
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executable_patterns, pass_criteria,
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status_name="oswec_irreg_waves_ss"
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)
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sys.exit(0 if passed else 1)

‎tests/regression/oswec/test_oswec_irreg_waves.cpp‎

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#include <chrono>
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#include <filesystem>
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#include <iomanip>
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#include <vector>
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#include <chrono/physics/ChBodyEasy.h>
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#include <chrono/physics/ChSystemNSC.h>
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#include <hydroc/helper.h>
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#include <hydroc/hydro_system.h>
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using namespace chrono;
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int main(int argc, char* argv[]) {
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std::cout << "Chrono version: " << CHRONO_VERSION << "\n\n";
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std::string data_dir;
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if (!hydroc::SetInitialEnvironment(data_dir)) return 1;
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std::filesystem::path DATADIR(hydroc::getDataDir());
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auto body1_meshfame = (DATADIR / "demos" / "oswec" / "geometry" / "flap.obj").lexically_normal().generic_string();
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auto body2_meshfame = (DATADIR / "demos" / "oswec" / "geometry" / "base.obj").lexically_normal().generic_string();
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auto h5fname = (DATADIR / "demos" / "oswec" / "hydroData" / "oswec.h5").lexically_normal().generic_string();
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ChSystemNSC system;
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system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
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double timestep = 0.015;
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system.SetSolverType(ChSolver::Type::GMRES);
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double simulationDuration = hydroc::getSimDuration(200.0, 400.0);
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std::vector<double> time_vector;
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std::vector<double> flap_rot;
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std::cout << "Attempting to open mesh file: " << body1_meshfame << std::endl;
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std::shared_ptr<ChBody> flap_body = chrono_types::make_shared<ChBodyEasyMesh>(
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body1_meshfame,
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1000,
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false,
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true,
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false
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);
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system.Add(flap_body);
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flap_body->SetName("body1");
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flap_body->SetPos(ChVector3d(0, 0, -3.9));
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flap_body->SetMass(127000.0);
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flap_body->SetInertiaXX(ChVector3d(1.85e6, 1.85e6, 1.85e6));
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std::cout << "Attempting to open mesh file: " << body2_meshfame << std::endl;
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std::shared_ptr<ChBody> base_body = chrono_types::make_shared<ChBodyEasyMesh>(
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body2_meshfame,
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1000,
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false,
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true,
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false
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);
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system.Add(base_body);
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base_body->SetName("body2");
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base_body->SetPos(ChVector3d(0, 0, -10.15));
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base_body->SetMass(999);
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base_body->SetInertiaXX(ChVector3d(1, 1, 1));
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auto ground = chrono_types::make_shared<ChBody>();
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system.AddBody(ground);
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ground->SetPos(ChVector3d(0, 0, -10.15));
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ground->SetTag(-1);
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ground->SetFixed(true);
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ground->EnableCollision(false);
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auto anchor = chrono_types::make_shared<ChLinkMateGeneric>();
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anchor->Initialize(base_body, ground, false, base_body->GetVisualModelFrame(), base_body->GetVisualModelFrame());
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system.Add(anchor);
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anchor->SetConstrainedCoords(true, true, true, true, true, true);
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ChQuaternion<> revoluteRot = QuatFromAngleX(CH_PI / 2.0);
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auto revolute = chrono_types::make_shared<ChLinkLockRevolute>();
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revolute->Initialize(base_body, flap_body, ChFramed(ChVector3d(0.0, 0.0, -8.9), revoluteRot));
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system.AddLink(revolute);
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// PTO damper between flap and base
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auto pto = chrono_types::make_shared<ChLinkRSDA>();
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pto->Initialize(flap_body, base_body, ChFramed(ChVector3d(0.0, 0.0, -8.9), revoluteRot));
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pto->SetSpringCoefficient(0.0);
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pto->SetDampingCoefficient(12.0e6);
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system.AddLink(pto);
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std::vector<std::shared_ptr<ChBody>> bodies;
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bodies.push_back(flap_body);
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bodies.push_back(base_body);
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IrregularWaveParams wave_inputs;
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wave_inputs.ramp_duration = 30.0;
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wave_inputs.wave_height = 2.5;
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wave_inputs.wave_period = 8.0;
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wave_inputs.frequency_min = 0.001;
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wave_inputs.frequency_max = 1.0;
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wave_inputs.nfrequencies = 1000;
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std::shared_ptr<IrregularWaves> my_hydro_inputs;
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try {
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my_hydro_inputs = std::make_shared<IrregularWaves>(wave_inputs);
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} catch (const std::exception& e) {
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std::cerr << "Caught exception: " << e.what() << '\n';
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return 1;
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} catch (...) {
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std::cerr << "Caught unknown exception.\n";
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return 1;
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}
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if (!my_hydro_inputs) {
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std::cerr << "ERROR: Failed to create IrregularWaves object." << std::endl;
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return 1;
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}
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HydroForces hydro_forces(bodies, h5fname);
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hydro_forces.AddWaves(my_hydro_inputs);
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auto start = std::chrono::high_resolution_clock::now();
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while (system.GetChTime() <= simulationDuration) {
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system.DoStepDynamics(timestep);
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time_vector.push_back(system.GetChTime());
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flap_rot.push_back(flap_body->GetRot().GetCardanAnglesXYZ().y());
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}
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auto end = std::chrono::high_resolution_clock::now();
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unsigned duration = std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
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std::cout << "Simulation completed in " << duration << " ms" << std::endl;
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std::string out_dir = hydroc::getTestOutDir() + "/" + RESULTS_DIR_NAME;
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std::filesystem::create_directories(std::filesystem::path(out_dir));
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std::ofstream outputFile(out_dir + "/" + RESULTS_FILE_NAME + ".txt");
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if (outputFile.is_open()) {
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outputFile << std::left << std::setw(10) << "Time (s)" << std::right << std::setw(16)
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<< "Flap Rotation y (radians)" << std::right << std::setw(16) << "Flap Rotation y (degrees)"
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<< std::endl;
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for (size_t i = 0; i < time_vector.size(); ++i)
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outputFile << std::left << std::setw(10) << std::setprecision(3) << std::fixed << time_vector[i]
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<< std::right << std::setw(16) << std::setprecision(6) << std::fixed << flap_rot[i]
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<< std::right << std::setw(16) << std::setprecision(6) << std::fixed
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<< flap_rot[i] * 360.0 / (2.0 * CH_PI) << std::endl;
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outputFile.close();
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} else {
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std::cout << "Error: Could not open output file for writing." << std::endl;
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return 1;
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}
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return 0;
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}

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