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Add RM3 mooring verification test (WEC-Sim/MoorDyn)
Cross-code verification of the RM3 two-body point absorber with MoorDyn mooring against WEC-Sim/MoorDyn co-simulation reference data. Compares body heave motions and fairlead tensions after the 40s ramp transient. The test uses the new excitation truncation and cosine ramp features to match WEC-Sim's elevationImport mode (CITime=20s, rampTime=40s). Requires HYDROCHRONO_ENABLE_MOORDYN; skipped otherwise. Includes test infrastructure (tests/verification/CMakeLists.txt) that mirrors the existing regression pattern with CTest fixtures.
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‎CMakeLists.txt‎

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endif()
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add_subdirectory(tests/regression)
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add_subdirectory(tests/verification)
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add_subdirectory(tests/unit)
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endif()
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‎build.ps1‎

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Write-Host "Output: $binPath" -ForegroundColor Cyan
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Write-Host ""
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Write-Host "Tests: ctest -C $BuildType -L regression --test-dir build" -ForegroundColor Gray
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Write-Host " ctest -C $BuildType -L unit --test-dir build" -ForegroundColor Gray
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Write-Host "Tests: ctest -C $BuildType -L regression --test-dir build" -ForegroundColor Gray
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Write-Host " ctest -C $BuildType -L unit --test-dir build" -ForegroundColor Gray
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Write-Host " ctest -C $BuildType -L verification --test-dir build" -ForegroundColor Gray
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Write-Host " Cross-code verification (requires specific features, e.g. -MoorDyn)" -ForegroundColor DarkGray
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Write-Host " Add -V for verbose output, --output-on-failure for failures only" -ForegroundColor DarkGray
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Write-Host ""
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Write-Host "Long: `$env:HYDROCHRONO_LONG_TESTS='1'" -ForegroundColor Gray
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Write-Host " ctest -C $BuildType -L regression --test-dir build" -ForegroundColor Gray
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Write-Host " Runs with extended simulation durations" -ForegroundColor DarkGray
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Write-Host " Runs with extended simulation durations (also applies to verification)" -ForegroundColor DarkGray
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Write-Host ""
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Write-Host "Report: python tests/regression/utilities/generate_report.py --build-dir build --pdf" -ForegroundColor Gray
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Write-Host " Generates regression test report (markdown + PDF) in build/bin/report/" -ForegroundColor DarkGray

‎data/verification/rm3_mooring/extract_wecsim_ref.py‎

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#!/usr/bin/env python3
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"""
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Extract reference data from a WEC-Sim/MoorDyn co-simulation of the RM3 mooring case.
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Reference case: WEC-Sim Applications Mooring
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https://github.com/WEC-Sim/WEC-Sim_Applications/tree/2d7569271c00e8736c2755192ee45941ffd49403/Mooring
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Run that case to obtain the .mat outputs (e.g. etaData.mat and
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Mooring/Mooring/MoorDyn/output/RM3MoorDyn_matlabWorkspace.mat). Then run this
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script with --wecsim-dir pointing to the MoorDyn case directory (the directory
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containing etaData.mat and the output/ subdirectory).
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Reads the WEC-Sim MATLAB workspace (.mat) and wave elevation file, and writes
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plain-text reference files suitable for HydroChrono verification tests.
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Output files (committed to repo):
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data/verification/rm3_mooring/reference/wecsim_moordyn_body_motions.txt
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data/verification/rm3_mooring/reference/wecsim_moordyn_fairlead_tensions.txt
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data/verification/rm3_mooring/reference/wecsim_moordyn_wave_elevation.txt
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data/verification/rm3_mooring/reference/README.md
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data/verification/rm3_mooring/inputs/eta_rm3_mooring.txt
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Usage:
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python data/verification/rm3_mooring/extract_wecsim_ref.py --wecsim-dir PATH
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--wecsim-dir is required: path to the WEC-Sim MoorDyn case directory.
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"""
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import argparse
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import os
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import sys
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from pathlib import Path
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from datetime import datetime
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import numpy as np
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try:
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import scipy.io as sio
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except ImportError:
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sys.exit("scipy is required: pip install scipy")
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try:
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import h5py
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except ImportError:
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sys.exit("h5py is required: pip install h5py")
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def extract(wecsim_dir: Path, repo_root: Path):
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eta_mat_path = wecsim_dir / "etaData.mat"
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workspace_mat_path = wecsim_dir / "output" / "RM3MoorDyn_matlabWorkspace.mat"
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for p in (eta_mat_path, workspace_mat_path):
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if not p.exists():
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sys.exit(f"Source file not found: {p}")
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ref_dir = repo_root / "data" / "verification" / "rm3_mooring" / "reference"
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inp_dir = repo_root / "data" / "verification" / "rm3_mooring" / "inputs"
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ref_dir.mkdir(parents=True, exist_ok=True)
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inp_dir.mkdir(parents=True, exist_ok=True)
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# ── 1. Wave elevation (etaData.mat -> HydroChrono eta format) ────────
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print(f"Reading {eta_mat_path} ...")
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eta_raw = sio.loadmat(str(eta_mat_path))
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eta_key = [k for k in eta_raw if not k.startswith("__")]
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if len(eta_key) != 1:
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sys.exit(f"Expected one variable in etaData.mat, found: {eta_key}")
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eta_data = eta_raw[eta_key[0]] # (N, 2): [time, elevation]
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print(f" eta shape: {eta_data.shape}, t=[{eta_data[0,0]:.2f}, {eta_data[-1,0]:.2f}]s")
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# HydroChrono eta format: "time : elevation" per line
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eta_out = inp_dir / "eta_rm3_mooring.txt"
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with open(eta_out, "w") as f:
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for row in eta_data:
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f.write(f"{row[0]:.6f} : {row[1]:.10e}\n")
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print(f" -> {eta_out} ({len(eta_data)} points)")
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# ── 2. WEC-Sim/MoorDyn workspace (.mat v7.3 via h5py) ───────────────
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print(f"Reading {workspace_mat_path} ...")
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ws = h5py.File(str(workspace_mat_path), "r")
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refs = ws["#refs#"]
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time = refs["Fb"]["time"][0, :] # (40001,)
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elevation = refs["Fb"]["elevation"][0, :] # (40001,)
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n_steps = len(time)
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dt = time[1] - time[0]
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print(f" time: {n_steps} steps, dt={dt:.4f}s, t=[{time[0]:.2f}, {time[-1]:.2f}]s")
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# Body positions: refs/8 = float (body1), refs/9 = plate (body2)
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# Shape (6, 40001): rows are [x, y, z, rx, ry, rz]
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float_pos = refs["8"][:] # body1 (float)
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plate_pos = refs["9"][:] # body2 (plate)
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print(f" float Z at t=0: {float_pos[2, 0]:.4f}m (expect -0.72)")
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print(f" plate Z at t=0: {plate_pos[2, 0]:.4f}m (expect -21.50)")
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# Fairlead tensions
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ft4 = refs["Cb"]["Lines"]["FairTen4"][0, :]
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ft5 = refs["Cb"]["Lines"]["FairTen5"][0, :]
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ft6 = refs["Cb"]["Lines"]["FairTen6"][0, :]
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print(f" FairTen4 range: [{ft4.min():.1f}, {ft4.max():.1f}] N")
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ws.close()
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# ── 3. Write reference body motions ──────────────────────────────────
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body_out = ref_dir / "wecsim_moordyn_body_motions.txt"
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header = "Time(s) FloatHeaveZ(m) PlateHeaveZ(m)"
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body_arr = np.column_stack([time, float_pos[2, :], plate_pos[2, :]])
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np.savetxt(str(body_out), body_arr, header=header, fmt="%.6f", comments="")
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print(f" -> {body_out} ({n_steps} rows)")
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# ── 4. Write reference fairlead tensions ─────────────────────────────
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tension_out = ref_dir / "wecsim_moordyn_fairlead_tensions.txt"
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header = "Time(s) FairTen4(N) FairTen5(N) FairTen6(N)"
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tension_arr = np.column_stack([time, ft4, ft5, ft6])
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np.savetxt(str(tension_out), tension_arr, header=header, fmt="%.6f", comments="")
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print(f" -> {tension_out} ({n_steps} rows)")
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# ── 5. Write reference wave elevation ────────────────────────────────
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wave_out = ref_dir / "wecsim_moordyn_wave_elevation.txt"
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header = "Time(s) Elevation(m)"
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wave_arr = np.column_stack([time, elevation])
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np.savetxt(str(wave_out), wave_arr, header=header, fmt="%.6f", comments="")
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print(f" -> {wave_out} ({n_steps} rows)")
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# ── 6. Write README ──────────────────────────────────────────────────
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readme_out = ref_dir / "README.md"
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readme_out.write_text(f"""\
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# WEC-Sim/MoorDyn RM3 Mooring Reference Data
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## Provenance
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Extracted on **{datetime.now().strftime('%Y-%m-%d %H:%M')}** by
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`data/verification/rm3_mooring/extract_wecsim_ref.py` from a WEC-Sim/MoorDyn
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co-simulation of the RM3 device with 6-line catenary mooring.
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### Source
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Reference data were produced by running the [WEC-Sim Applications Mooring](https://github.com/WEC-Sim/WEC-Sim_Applications/tree/2d7569271c00e8736c2755192ee45941ffd49403/Mooring) case (WEC-Sim/MoorDyn co-simulation of the RM3 device). That run generates MATLAB outputs (e.g. `etaData.mat` and `Mooring/Mooring/MoorDyn/output/RM3MoorDyn_matlabWorkspace.mat`). The plain-text reference files in this directory were then generated using `data/verification/rm3_mooring/extract_wecsim_ref.py` and are used by the HydroChrono verification tests and comparison plots.
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### WEC-Sim simulation parameters
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| Parameter | Value |
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|------------------|-------------------------------------------------|
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| dt | 0.01 s |
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| End time | 400 s |
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| Ramp time | 40 s |
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| Wave type | Elevation import (etaData.mat) |
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| Water depth | 70 m |
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| Float mass | 725 834 kg (equilibrium) |
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| Plate mass | 886 691 kg (equilibrium) |
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| Float inertia | [20907301, 21306090.66, 37085481.11] kg-m^2 |
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| Plate inertia | [94419614.57, 94407091.24, 28542224.82] kg-m^2 |
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| Plate init disp | [0, 0, -0.21] m |
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| PTO damping | 1 200 000 N-s/m |
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| PTO stiffness | 0 |
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| MoorDyn | 3 lines, 6 segments (anchor–clump + clump–fairlead each); input: data/yaml/rm3/mooring/lines_rm3.txt |
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## Files
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| File | Description |
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|------|-------------|
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| `wecsim_moordyn_body_motions.txt` | Time, float heave (Z), plate heave (Z) from WEC-Sim |
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| `wecsim_moordyn_fairlead_tensions.txt` | Time, FairTen4, FairTen5, FairTen6 from MoorDyn (inside WEC-Sim) |
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| `wecsim_moordyn_wave_elevation.txt` | Time, wave elevation as used in the co-simulation |
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""", encoding="utf-8")
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print(f" -> {readme_out}")
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print("\nDone.")
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def main():
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parser = argparse.ArgumentParser(description=__doc__,
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formatter_class=argparse.RawDescriptionHelpFormatter)
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parser.add_argument("--wecsim-dir", type=str, required=True,
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help="Path to WEC-Sim MoorDyn case directory (contains etaData.mat and output/)")
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args = parser.parse_args()
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wecsim_dir = Path(args.wecsim_dir)
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repo_root = Path(__file__).resolve().parent.parent
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extract(wecsim_dir, repo_root)
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if __name__ == "__main__":
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main()

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