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Add RM3 mooring demo with MoorDyn coupling
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‎data/yaml/rm3/mooring/lines_rm3.txt‎

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Mooring line data file for MoorDyn in libmoordyn.dll
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---------------------- LINE TYPES -----------------------------------------------------
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LineType Diam Mass/m EA BA/-zeta EI Cd Ca CdAx CaAx
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(-) (m) (kg/m) (N) (N-s/-) (N-m^2) (-) (-) (-) (-)
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Chain 0.144 126.0 583.376E6 -0.8 0 1.6 1.0 0.05 0.0
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---------------------------- BODIES -----------------------------------------------------
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ID Attachment X0 Y0 Z0 r0 p0 y0 Mass CG* I* Volume CdA* Ca
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(#) (-) (m) (m) (m) (deg) (deg) (deg) (kg) (m) (kg-m^2) (m^3) (m^2) (-)
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1 Coupled 0 0 -21.5 0 0 0 0.0 0 0 0 0 0
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---------------------- POINTS -----------------------------------------------------
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ID Attachment X Y Z Mass Volume CdA CA
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(#) (word/ID) (m) (m) (m) (kg) (mˆ3) (m^2) (-)
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1 Body1 -3.0 0 11.50 0 0 0 0
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2 Fixed -267.0 0 -70.00 0 0 0 0
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3 Body1 1.5 2.598 11.50 0 0 0 0
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4 Fixed 133.5 231.23 -70.00 0 0 0 0
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5 Body1 1.5 -2.598 11.50 0 0 0 0
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6 Fixed 133.5 -231.23 -70.00 0 0 0 0
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7 Free -40.0 0 -10.00 16755 33.510 12.566 1
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8 Free 20.0 34.642 -10.00 16755 33.510 12.566 1
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9 Free 20.0 -34.642 -10.00 16755 33.510 12.566 1
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---------------------- LINES -----------------------------------------------------
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ID LineType AttachA AttachB UnstrLen NumSegs LineOutputs
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(#) (-) (#) (#) (m) (-) (-)
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1 Chain 2 7 240.0 15 tp
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2 Chain 4 8 240.0 15 tp
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3 Chain 6 9 240.0 15 tp
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4 Chain 7 1 40.0 5 tp
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5 Chain 8 3 40.0 5 tp
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6 Chain 9 5 40.0 5 tp
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---------------------- SOLVER OPTIONS-----------------------------------------
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0.0005 dtM - time step to use in mooring integration
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0 WaveKin - wave kinematics flag (0=neglect, the only option currently supported)
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3.0e6 kBot - bottom stiffness
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3.0e5 cBot - bottom damping
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70 WtrDpth - water depth
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5.0 CdScaleIC - factor by which to scale drag coefficients during dynamic relaxation IC gen
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0.001 threshIC - threshold for IC con
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200.0 TmaxIC - max time for ic gen (s)
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2 writeLog - Write a log file
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0 WriteUnits - 0: do not write the units header on the output files
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1 disableOutTime - 1: do not write timesteps to command window
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-------------------------- OUTPUTS --------------------------------
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FairTen4
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FairTen5
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FairTen6
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--------------------- need this line ------------------

‎data/yaml/rm3/rm3_mooring.hydro.yaml‎

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hydrodynamics:
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bodies:
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- name: body1
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h5_file: hydroData/rm3.h5
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- name: body2
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h5_file: hydroData/rm3.h5
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waves:
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type: still
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moordyn:
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enabled: true
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input_file: mooring/lines_rm3.txt
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bodies: [body2]

‎data/yaml/rm3/rm3_mooring.model.yaml‎

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chrono-version: 9.0
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model:
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name: rm3_mooring_model
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angle_degrees: false
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data_path:
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type: RELATIVE
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root: "."
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bodies:
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- name: body1
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location: [0.0, 0.0, -0.72]
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mass: 725834
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fixed: false
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inertia:
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moments: [20907301.0, 21306090.66, 37085481.11]
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products: [0, 0, 0]
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com:
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location: [0, 0, 0]
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orientation: [0, 0, 0]
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visualization:
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model_file: geometry/float_cog.obj
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- name: body2
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location: [0.0, 0.0, -21.5]
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mass: 886691
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fixed: false
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inertia:
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moments: [94419614.57, 94407091.24, 28542224.82]
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products: [0, 0, 0]
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com:
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location: [0, 0, 0]
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orientation: [0, 0, 0]
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visualization:
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model_file: geometry/plate_cog.obj
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joints:
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- name: float_plate_joint
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type: PRISMATIC
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body1: body1
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body2: body2
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location: [0, 0, -0.72]
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axis: [0, 0, 1]
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tsdas:
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- name: PTO
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type: TSDA
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body1: body1
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body2: body2
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point1: [0, 0, -0.72]
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point2: [0, 0, -21.5]
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spring_coefficient: 0
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damping_coefficient: 1200000
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free_length: 0.0
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visualization:
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type: SPRING
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radius: 0.3
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resolution: 80
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turns: 15

‎data/yaml/rm3/rm3_mooring.setup.yaml‎

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model_file: rm3_mooring.model.yaml
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simulation_file: rm3.simulation.yaml
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hydro_file: rm3_mooring.hydro.yaml
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output_directory: results/rm3_mooring

‎demos/CMakeLists.txt‎

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build_demo(sphere sphere_irreg_waves_eta_import)
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build_demo(rm3 rm3_decay)
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build_demo(rm3 rm3_reg_waves)
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if(HYDROCHRONO_ENABLE_MOORDYN)
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build_demo(rm3 rm3_mooring)
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endif()
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build_demo(oswec oswec_decay)
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build_demo(oswec oswec_reg_waves)
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build_demo(f3of f3of_dt1)

‎demos/rm3/demo_rm3_mooring.cpp‎

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#include <hydroc/gui/guihelper.h>
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#include <hydroc/helper.h>
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#include <hydroc/hydro_system.h>
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#include <hydroc/logging.h>
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#ifdef HYDROCHRONO_HAVE_MOORDYN
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#include <hydroc/config/moordyn_config.h>
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#endif
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#include <chrono/core/ChRealtimeStep.h>
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#include <chrono/physics/ChBodyEasy.h>
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#include <chrono/physics/ChSystemNSC.h>
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#include <chrono>
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#include <iomanip>
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#include <vector>
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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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bool profilingOn = true;
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bool saveDataOn = true;
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bool plotOn = true;
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bool visualizationOn = true;
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std::string data_dir;
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if (!hydroc::GetCLIArguments(argc, argv, "RM3 mooring demo", saveDataOn, profilingOn, plotOn, visualizationOn,
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data_dir))
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return 1;
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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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std::cout << "Data directory: " << DATADIR << std::endl;
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auto body1_meshfame =
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(DATADIR / "demos" / "rm3" / "geometry" / "float_cog.obj").lexically_normal().generic_string();
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auto body2_meshfame =
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(DATADIR / "demos" / "rm3" / "geometry" / "plate_cog.obj").lexically_normal().generic_string();
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auto h5fname = (DATADIR / "demos" / "rm3" / "hydroData" / "rm3.h5").lexically_normal().generic_string();
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std::cout << " body1 mesh: " << body1_meshfame << std::endl;
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std::cout << " body2 mesh: " << body2_meshfame << std::endl;
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std::cout << " h5 file: " << h5fname << std::endl;
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// System and solver
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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 = 0.01;
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system.SetTimestepperType(ChTimestepper::Type::HHT);
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system.SetSolverType(ChSolver::Type::SPARSE_LU);
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ChRealtimeStepTimer realtime_timer;
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double simulationDuration = 40.0;
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std::shared_ptr<hydroc::gui::UI> pui = hydroc::gui::CreateUI(visualizationOn);
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hydroc::gui::UI& ui = *pui.get();
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std::vector<double> time_vector;
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std::vector<double> float_heave_position;
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std::vector<double> float_drift_position;
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std::vector<double> plate_heave_position;
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// Float body
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std::cout << "Loading float mesh: " << body1_meshfame << std::endl;
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std::shared_ptr<ChBody> float_body1 = chrono_types::make_shared<ChBodyEasyMesh>(
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body1_meshfame, 0, false, true, false);
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system.Add(float_body1);
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float_body1->SetName("body1");
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float_body1->SetPos(ChVector3d(0, 0, -0.72));
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float_body1->SetMass(725834);
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float_body1->SetInertiaXX(ChVector3d(20907301.0, 21306090.66, 37085481.11));
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auto red = chrono_types::make_shared<ChVisualMaterial>();
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red->SetDiffuseColor(ChColor(0.3f, 0.1f, 0.1f));
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float_body1->GetVisualShape(0)->SetMaterial(0, red);
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// Plate body
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std::cout << "Loading plate mesh: " << body2_meshfame << std::endl;
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std::shared_ptr<ChBody> plate_body2 = chrono_types::make_shared<ChBodyEasyMesh>(
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body2_meshfame, 0, false, true, false);
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system.Add(plate_body2);
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plate_body2->SetName("body2");
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plate_body2->SetPos(ChVector3d(0, 0, -21.29));
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plate_body2->SetMass(886691);
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plate_body2->SetInertiaXX(ChVector3d(94419614.57, 94407091.24, 28542224.82));
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auto blue = chrono_types::make_shared<ChVisualMaterial>();
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blue->SetDiffuseColor(ChColor(0.3f, 0.1f, 0.6f));
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plate_body2->GetVisualShape(0)->SetMaterial(0, blue);
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// Prismatic joint (vertical heave)
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auto prismatic = chrono_types::make_shared<ChLinkLockPrismatic>();
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prismatic->Initialize(float_body1, plate_body2, false, ChFramed(ChVector3d(0, 0, -0.72)),
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ChFramed(ChVector3d(0, 0, -21.29)));
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system.AddLink(prismatic);
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// PTO damper
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auto prismatic_pto = chrono_types::make_shared<ChLinkTSDA>();
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prismatic_pto->Initialize(float_body1, plate_body2, false, ChVector3d(0, 0, -0.72), ChVector3d(0, 0, -21.29));
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prismatic_pto->SetDampingCoefficient(1200000.0);
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system.AddLink(prismatic_pto);
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// Hydrodynamic forces
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std::vector<std::shared_ptr<ChBody>> bodies;
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bodies.push_back(float_body1);
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bodies.push_back(plate_body2);
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auto my_hydro_inputs = std::make_shared<RegularWave>();
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my_hydro_inputs->regular_wave_amplitude_ = 1.0;
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my_hydro_inputs->regular_wave_omega_ = 2.10;
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TestHydro hydro_forces(bodies, h5fname);
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#ifdef HYDROCHRONO_HAVE_MOORDYN
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{
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auto moordyn_input =
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(DATADIR / "yaml" / "rm3" / "mooring" / "lines_rm3.txt").lexically_normal().generic_string();
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std::cout << " MoorDyn input: " << moordyn_input << std::endl;
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MoorDynConfig md_cfg;
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md_cfg.enabled = true;
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md_cfg.input_file = moordyn_input;
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md_cfg.coupled_body_indices = {1}; // body2 (plate) = index 1
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hydro_forces.SetMoorDynConfig(md_cfg);
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}
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#endif
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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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ui.Init(&system, "RM3 - Mooring Demo");
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ui.SetCamera(0, -50, -10, 0, 0, -10);
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ui.SetWaveModel(my_hydro_inputs);
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while (system.GetChTime() <= simulationDuration) {
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if (ui.IsRunning(timestep) == false) break;
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if (ui.simulationStarted) {
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system.DoStepDynamics(timestep);
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time_vector.push_back(system.GetChTime());
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float_heave_position.push_back(float_body1->GetPos().z());
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float_drift_position.push_back(float_body1->GetPos().x());
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plate_heave_position.push_back(plate_body2->GetPos().z());
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}
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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::string out_dir = hydroc::getDemoOutDir();
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if (profilingOn || saveDataOn) {
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out_dir = out_dir + "/" + RESULTS_DIR_NAME;
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std::filesystem::create_directory(std::filesystem::path(out_dir));
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}
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if (profilingOn) {
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std::ofstream profilingFile(out_dir + "/mooring_duration.txt");
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profilingFile << duration << " ms\n";
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profilingFile.close();
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}
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if (saveDataOn) {
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std::ofstream outputFile(out_dir + "/mooring.txt");
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outputFile << std::left << std::setw(10) << "Time (s)" << std::right << std::setw(16) << "Float Heave (m)"
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<< std::right << std::setw(16) << "Plate Heave (m)" << std::right << std::setw(16)
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<< "Float Drift (x) (m)" << 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(2) << std::fixed << time_vector[i]
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<< std::right << std::setw(16) << std::setprecision(8) << std::fixed << float_heave_position[i]
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<< std::right << std::setw(16) << std::setprecision(8) << std::fixed << plate_heave_position[i]
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<< std::right << std::setw(16) << std::setprecision(8) << std::fixed << float_drift_position[i]
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<< std::endl;
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outputFile.close();
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}
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return 0;
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}

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