Add MoorDyn v2.6.1 submodule and build infrastructure

Author: dav-og

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "extern/MoorDyn"]
+	path = extern/MoorDyn
+	url = https://github.com/FloatingArrayDesign/MoorDyn.git

CMakeLists.txt

@@ -52,10 +52,10 @@ configure_file(${CMAKE_SOURCE_DIR}/cmake/version.h.in
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
-# Deterministic dependency discovery (avoid ambient PATH/registry drift)
+# Prefer config-mode package discovery (finds vcpkg *-config.cmake files
+# instead of CMake's built-in Find*.cmake modules which may not understand vcpkg).
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
 set(CMAKE_FIND_USE_PACKAGE_REGISTRY OFF)
-set(CMAKE_FIND_USE_SYSTEM_ENVIRONMENT_PATH OFF)
 
 # Force Release by default so CI builds are optimized and users get good performance
 if(NOT DEFINED HYDROCHRONO_DEFAULT_BUILD_TYPE)
@@ -79,6 +79,7 @@ option(HYDROCHRONO_ENABLE_IRRLICHT "Enable Irrlicht visualization library" OFF)
 option(HYDROCHRONO_ENABLE_VSG "Enable VSG visualization library" OFF)
 option(HYDROCHRONO_ENABLE_DEMOS "Enable demo executables" OFF)
 option(HYDROCHRONO_ENABLE_YAML_RUNNER "Enable YAML-based CLI runner" OFF)
+option(HYDROCHRONO_ENABLE_MOORDYN "Enable MoorDyn mooring coupling" OFF)
 
 # ===============================================================================
 # ------ Build setup ------------------------------------------------------------
@@ -167,6 +168,16 @@ if(NOT Chrono_DIR)
     return()
 endif()
 
+# Chrono's export file may reference hdf5::hdf5_tools-{shared,static} which is
+# absent from some HDF5 installations (e.g., vcpkg). Provide empty shims so
+# ChronoTargets.cmake loads without errors. Must be created BEFORE find_package(Chrono).
+if(NOT TARGET hdf5::hdf5_tools-shared)
+    add_library(hdf5::hdf5_tools-shared INTERFACE IMPORTED)
+endif()
+if(NOT TARGET hdf5::hdf5_tools-static)
+    add_library(hdf5::hdf5_tools-static INTERFACE IMPORTED)
+endif()
+
 find_package(Chrono
              CONFIG REQUIRED
              COMPONENTS Parsers)
@@ -239,7 +250,33 @@ endif()
 find_package(OpenMP REQUIRED COMPONENTS CXX)
 
 # -- HDF5 Integration --
-find_package(HDF5 REQUIRED COMPONENTS CXX)
+# Prefer config-mode (vcpkg, official HDF5 installer).  Fall back to CMake's
+# built-in FindHDF5 module for system-installed packages (apt, yum, brew, etc.).
+find_package(HDF5 CONFIG QUIET)
+if(NOT HDF5_FOUND)
+    find_package(HDF5 REQUIRED COMPONENTS CXX)
+endif()
+
+# -- MoorDyn mooring library (optional) --
+if(HYDROCHRONO_ENABLE_MOORDYN)
+    message(STATUS "\n---- MoorDyn mooring library")
+    set(EXTERNAL_EIGEN OFF CACHE BOOL "Use MoorDyn bundled Eigen" FORCE)
+    set(PYTHON_WRAPPER OFF CACHE BOOL "Disable MoorDyn Python wrapper" FORCE)
+    set(FORTRAN_WRAPPER OFF CACHE BOOL "Disable MoorDyn Fortran wrapper" FORCE)
+    set(MATLAB_WRAPPER OFF CACHE BOOL "Disable MoorDyn MATLAB wrapper" FORCE)
+    set(RUST_WRAPPER OFF CACHE BOOL "Disable MoorDyn Rust wrapper" FORCE)
+    set(BUILD_TESTING_SAVED ${BUILD_TESTING})
+    set(BUILD_TESTING OFF)
+    add_subdirectory(extern/MoorDyn)
+    set(BUILD_TESTING ${BUILD_TESTING_SAVED})
+    # MoorDyn is a shared library (DLL) -- its internal Eigen usage must not
+    # leak into HydroChrono's include paths (HydroChrono uses Chrono's Eigen).
+    set_target_properties(moordyn PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES ""
+    )
+    message(STATUS "MoorDyn mooring coupling: ENABLED")
+    message(STATUS "----\n")
+endif()
 
 # ===============================================================================
 # ----- Create HydroChrono configuration header ---------------------------------
@@ -261,6 +298,12 @@ else()
   set(HC_HAS_VSG "#undef HYDROCHRONO_HAVE_VSG")
 endif()
 
+if(HYDROCHRONO_ENABLE_MOORDYN)
+  set(HC_HAS_MOORDYN "#define HYDROCHRONO_HAVE_MOORDYN")
+else()
+  set(HC_HAS_MOORDYN "#undef HYDROCHRONO_HAVE_MOORDYN")
+endif()
+
 # For BUILD tree
 set(HC_DATA_DIR "#define HC_DATA_DIR \"${HC_BUILD_DATA}\"")
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/config.h.in
@@ -317,13 +360,41 @@ set(HC_SOURCES
     src/hydro/logging/logging.cpp
 )
 
+# MoorDyn mooring sources (conditionally compiled).
+# The wrapper is built as a separate OBJECT library so that MoorDyn's
+# bundled Eigen headers stay isolated and don't conflict with the
+# system/Chrono Eigen used by HydroChrono.
+if(HYDROCHRONO_ENABLE_MOORDYN)
+    add_library(moordyn_bridge OBJECT
+        src/hydro/mooring/moordyn_wrapper.cpp
+    )
+    target_include_directories(moordyn_bridge PRIVATE
+        "${CMAKE_CURRENT_SOURCE_DIR}/extern/MoorDyn/source"
+        "${CMAKE_CURRENT_SOURCE_DIR}"
+        "${CMAKE_CURRENT_SOURCE_DIR}/include"
+    )
+    target_link_libraries(moordyn_bridge PRIVATE moordyn)
+    target_compile_features(moordyn_bridge PUBLIC cxx_std_17)
+    # Pick up HydroChrono's public headers (system_state.h, hydro_types.h)
+    target_include_directories(moordyn_bridge PUBLIC
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    )
+    # Chrono headers needed for Eigen (used by hydro_types.h)
+    target_link_libraries(moordyn_bridge PUBLIC Chrono::Chrono_core)
+
+    list(APPEND HC_SOURCES
+        src/hydro/force_components/mooring_component.cpp
+    )
+endif()
+
 set(HC_HEADERS
     ${PROJECT_BINARY_DIR}/hydroc/config.h
     ${PROJECT_BINARY_DIR}/hydroc/version.h
     include/hydroc/hydro_system.h
     include/hydroc/helper.h
     include/hydroc/logging.h
     include/hydroc/config/hydro_config.h
+    include/hydroc/config/moordyn_config.h
     include/hydroc/core/force_component.h
     include/hydroc/core/hydro_forces.h
     include/hydroc/core/hydro_types.h
@@ -361,19 +432,23 @@ if(TARGET hdf5::hdf5-static)
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_cpp-static)
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_hl-static)
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_hl_cpp-static)
-  target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_tools-static)
+  if(TARGET hdf5::hdf5_tools-static)
+    target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_tools-static)
+  endif()
 elseif(TARGET hdf5::hdf5-shared)
   message(STATUS "Linking shared libraries hdf5::hdf5-shared")
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5-shared)
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_cpp-shared)
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_hl-shared)
   target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_hl_cpp-shared)
-  target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_tools-shared)
   list(APPEND HDF5_TARGETS hdf5::hdf5-shared)
   list(APPEND HDF5_TARGETS hdf5::hdf5_cpp-shared)
   list(APPEND HDF5_TARGETS hdf5::hdf5_hl-shared)
   list(APPEND HDF5_TARGETS hdf5::hdf5_hl_cpp-shared)
-  list(APPEND HDF5_TARGETS hdf5::hdf5_tools-shared)
+  if(TARGET hdf5::hdf5_tools-shared)
+    target_link_libraries(HydroChrono PUBLIC hdf5::hdf5_tools-shared)
+    list(APPEND HDF5_TARGETS hdf5::hdf5_tools-shared)
+  endif()
 elseif(TARGET HDF5::HDF5)
   message(STATUS "Linking HDF5::HDF5")
   target_link_libraries(HydroChrono PUBLIC HDF5::HDF5)
@@ -391,6 +466,15 @@ target_include_directories(HydroChrono
     ${CMAKE_CURRENT_SOURCE_DIR}/include
 )
 
+# Add MoorDyn (optional mooring coupling)
+if(HYDROCHRONO_ENABLE_MOORDYN AND TARGET moordyn)
+    # Link moordyn import lib for DLL binding; moordyn_bridge provides
+    # the compiled wrapper objects with MoorDyn headers isolated from HC.
+    target_link_libraries(HydroChrono PRIVATE $<TARGET_LINKER_FILE:moordyn>)
+    target_sources(HydroChrono PRIVATE $<TARGET_OBJECTS:moordyn_bridge>)
+    target_compile_definitions(HydroChrono PUBLIC HYDROCHRONO_HAVE_MOORDYN)
+endif()
+
 # Library-specific compile definitions
 target_compile_definitions(HydroChrono
     PUBLIC
@@ -515,6 +599,12 @@ function(configure_test_environment)
         list(APPEND DLL_DIRS ${VSG_DLL_DIR})
     endif()
 
+    # MoorDyn DLL path
+    if(HYDROCHRONO_ENABLE_MOORDYN AND TARGET moordyn)
+        list(APPEND DLL_DIRS "$<TARGET_FILE_DIR:moordyn>")
+        message(STATUS "  MoorDyn DLL directory:            (via target)")
+    endif()
+
     set(TEST_ENVIRONMENT "PATH=${DLL_DIRS};$ENV{PATH}" PARENT_SCOPE)
 endfunction()
 
@@ -715,6 +805,21 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
         endforeach()
     endif()
 
+    # MoorDyn DLL
+    if(HYDROCHRONO_ENABLE_MOORDYN AND TARGET moordyn)
+        install(TARGETS moordyn
+            CONFIGURATIONS Release
+            RUNTIME DESTINATION bin COMPONENT runtime)
+        message(STATUS "  MoorDyn DLL (via target)")
+    endif()
+
+endif()
+
+# MoorDyn license bundling
+if(HYDROCHRONO_ENABLE_MOORDYN)
+    install(FILES "${CMAKE_SOURCE_DIR}/extern/MoorDyn/LICENSE.txt"
+            RENAME MoorDyn_LICENSE.txt
+            DESTINATION licenses COMPONENT runtime)
 endif()
 
 # Public, user-facing regression test suite only
@@ -750,6 +855,13 @@ if(MSVC AND OpenMP_CXX_FOUND)
     endif()
 endif()
 include(InstallRequiredSystemLibraries)
+
+# Third-party license notices
+if(EXISTS "${CMAKE_SOURCE_DIR}/THIRD_PARTY_NOTICES.txt")
+    install(FILES "${CMAKE_SOURCE_DIR}/THIRD_PARTY_NOTICES.txt"
+            DESTINATION . COMPONENT runtime)
+endif()
+
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_NAME "HydroChrono")
 set(CPACK_COMPONENTS_ALL runtime python-tests dev-demos)

THIRD_PARTY_NOTICES.txt

@@ -0,0 +1,40 @@
+THIRD-PARTY SOFTWARE NOTICES AND INFORMATION
+
+HydroChrono incorporates third-party components under the licenses listed below.
+The original license files are included in the licenses/ directory of this
+distribution.
+
+================================================================================
+MoorDyn v2.6.1
+https://github.com/FloatingArrayDesign/MoorDyn
+License: BSD 3-Clause
+License file: licenses/MoorDyn_LICENSE.txt
+
+Copyright (c) 2022, Matt Hall
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+================================================================================

build.ps1

@@ -22,6 +22,7 @@ param(
     [switch]$Package,
     [switch]$NoIrrlicht,    # Disable Irrlicht (auto-enabled if Chrono has it)
     [switch]$NoVSG,         # Disable VSG (auto-enabled if Chrono has it)
+    [switch]$MoorDyn,       # Enable MoorDyn mooring coupling
     [switch]$NoDemos,
     [switch]$NoTests,
     [switch]$Help,
@@ -62,6 +63,7 @@ if ($Help) {
     Write-Host "  -Package           Create distributable ZIP after building"
     Write-Host "  -NoIrrlicht        Disable Irrlicht (enabled by default if Chrono has it)"
     Write-Host "  -NoVSG             Disable VSG (enabled by default if Chrono has it)"
+    Write-Host "  -MoorDyn           Enable MoorDyn mooring coupling (requires extern/MoorDyn)"
     Write-Host "  -NoDemos           Skip demo executables"
     Write-Host "  -NoTests           Skip test targets"
     Write-Host "  -ConfigPath <path> Custom config file (default: build-config.json)`n"
@@ -149,6 +151,20 @@ if (-not $hasHDF5) {
     Write-Warn "Chrono built without HDF5 - build may fail"
 }
 
+# Eigen3: extract include path from Chrono config so FindEigen3.cmake can
+# bypass Eigen3ConfigVersion.cmake (Eigen 5.x rejects the "3.3" request).
+$eigen3Include = $null
+if ($chronoContent -match 'Eigen3_DIR\s+"([^"]+)"') {
+    $eigen3Root = Split-Path (Split-Path $Matches[1])
+    $candidate = Join-Path $eigen3Root "include/eigen3"
+    if (Test-Path (Join-Path $candidate "Eigen")) {
+        $eigen3Include = $candidate
+        Write-OK "Eigen3: $eigen3Include"
+    } else {
+        Write-Warn "Eigen3 headers not found at $candidate"
+    }
+}
+
 # =============================================================================
 # Check CMake
 # =============================================================================
@@ -194,9 +210,15 @@ $cmakeArgs = @(
     "-DHYDROCHRONO_ENABLE_DEMOS=$(if($NoDemos){'OFF'}else{'ON'})",
     "-DHYDROCHRONO_ENABLE_IRRLICHT=$(if($useIrrlicht){'ON'}else{'OFF'})",
     "-DHYDROCHRONO_ENABLE_VSG=$(if($useVSG){'ON'}else{'OFF'})",
-    "-DCMAKE_BUILD_TYPE=$BuildType"
+    "-DCMAKE_BUILD_TYPE=$BuildType",
+    "-DHYDROCHRONO_ENABLE_MOORDYN=$(if($MoorDyn){'ON'}else{'OFF'})"
 )
 
+# Add Eigen3 include path if extracted from Chrono config
+if ($eigen3Include) {
+    $cmakeArgs += "-DEIGEN3_INCLUDE_DIR=`"$($eigen3Include -replace '\\','/')`""
+}
+
 # Add Python if specified
 if ($PythonRoot -and (Test-Path $PythonRoot)) {
     $cmakeArgs += "-DPython3_ROOT_DIR=`"$($PythonRoot -replace '\\','/')`""
@@ -213,7 +235,7 @@ if ($useIrrlicht) {
     }
 }
 
-Write-Detail "Build: $BuildType | Tests: $(if($NoTests){'OFF'}else{'ON'}) | Demos: $(if($NoDemos){'OFF'}else{'ON'})"
+Write-Detail "Build: $BuildType | Tests: $(if($NoTests){'OFF'}else{'ON'}) | Demos: $(if($NoDemos){'OFF'}else{'ON'}) | MoorDyn: $(if($MoorDyn){'ON'}else{'OFF'})"
 
 if ($Verbose) {
     cmake @cmakeArgs
@@ -310,6 +332,45 @@ if ($useVSG) {
     }
 }
 
+# Copy HDF5 and its dependencies (szip, zlib) from vcpkg
+if ($chronoContent -match 'HDF5_DIR\s+"([^"]+)"') {
+    $hdf5Root = Split-Path (Split-Path $Matches[1])
+    $hdf5BinDir = Join-Path $hdf5Root "bin"
+    if (Test-Path $hdf5BinDir) {
+        $hdf5Dlls = Get-ChildItem -Path $hdf5BinDir -Include "hdf5*.dll","szip*.dll","zlib*.dll" -Recurse -ErrorAction SilentlyContinue
+        $copiedCount = 0
+        foreach ($dll in $hdf5Dlls) {
+            $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 HDF5/compression DLLs from $hdf5BinDir"
+        }
+    }
+}
+
+# Verify MoorDyn DLL is in the output directory
+if ($MoorDyn) {
+    $moordynDll = Join-Path $binPath "moordyn.dll"
+    if (Test-Path $moordynDll) {
+        Write-OK "MoorDyn DLL: moordyn.dll"
+    } else {
+        # CMake places moordyn.dll in bin/<config> alongside other targets,
+        # but fall back to searching the build tree if not found.
+        $found = Get-ChildItem -Path ".\build" -Filter "moordyn.dll" -Recurse -ErrorAction SilentlyContinue |
+            Select-Object -First 1
+        if ($found) {
+            Copy-Item $found.FullName $moordynDll -Force
+            Write-OK "MoorDyn DLL: copied from $($found.Directory.Name)"
+        } else {
+            Write-Warn "MoorDyn enabled but moordyn.dll not found in build tree"
+        }
+    }
+}
+
 # =============================================================================
 # Verify
 # =============================================================================

cmake/config.h.in

@@ -15,6 +15,9 @@
 // If HydroChrono was built with VSG support, define HYDROCHRONO_HAVE_VSG
 @HC_HAS_VSG@
 
+// If HydroChrono was built with MoorDyn mooring support, define HYDROCHRONO_HAVE_MOORDYN
+@HC_HAS_MOORDYN@
+
 // Path to HydroChrono data directory
 @HC_DATA_DIR@