Skip to content

Commit

Permalink
Wave Body: use model:// URI to specify BEM file location (#72)
Browse files Browse the repository at this point in the history 
- Use model://<model_path_to_config> URI syntax to locate BEM data files.

Signed-off-by: Rhys Mainwaring <[email protected]>
  • Loading branch information
@srmainwaring
srmainwaring committed Dec 6, 2022
1 parent 1c419fb commit fba4812
Show file tree
Hide file tree
Showing 3 changed files with 176 additions and 168 deletions.
333 changes: 167 additions & 166 deletions gz-waves-models/worlds/ellipsoid_buoy.sdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -104,181 +104,182 @@
<plugin
filename="gz-waves1-linear-wave-body-system"
name="gz::sim::systems::LinearWaveBody">
<hdf5_file>/Users/rhys/Code/robotics/gz_waves_ws/src/asv_wave_sim/gz-waves-models/models/ellipsoid_buoy/config/hydrodata/ellipsoid_f5244.h5</hdf5_file>

<!-- waves overrides -->
<waves>
<regular>
<period>6</period>
<height>4</height>
<direction>0</direction>
<phase>0</phase>
</regular>
</waves>
<hdf5_file>model://ellipsoid_buoy/config/hydrodata/ellipsoid_f5244.h5</hdf5_file>

<!-- simulation parameter overrides -->
<simulation_parameters>
<gravity>9.81</gravity>
<fluid_density>1025</fluid_density>
</simulation_parameters>
<!-- waves overrides -->
<waves>
<regular>
<period>6</period>
<height>4</height>
<direction>0</direction>
<phase>0</phase>
</regular>
</waves>

<!-- geometry overrides -->
<geometry>
<center_of_waterplane>0 0 0</center_of_waterplane>
<center_of_buoyancy>0 0 -0.935</center_of_buoyancy>
<displaced_volume>129.1381</displaced_volume>
</geometry>
<!-- simulation parameter overrides -->
<simulation_parameters>
<gravity>9.81</gravity>
<fluid_density>1025</fluid_density>
</simulation_parameters>

<!-- geometry overrides -->
<geometry>
<center_of_waterplane>0 0 0</center_of_waterplane>
<center_of_buoyancy>0 0 -0.935</center_of_buoyancy>
<displaced_volume>129.1381</displaced_volume>
</geometry>

<!-- unscaled hydrodynamics coefficients (overrides) -->
<hydro_coeffs>
<scaled>0</scaled>
<hydrostatic>
<linear_restoring>
0. 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0.
0. 0. 777494.4 -3.6 -402.7 0.
0. 0. -3.6 6167224.2 -0.1 0.
0. 0. -402.7 -0.1 6179979.4 0.
0. 0. 0. 0. 0. 0.
</linear_restoring>
</hydrostatic>
<radiation>
<!--
1. Added mass calculated using Capytaine and converted
to WEC-Sim hdf5 with bemio, T = 6.0s, w = 1.0472 rad/s
-->
<added_mass>
52732.7109003133 -0.0461102712478722 5.88390664387022 0.296417351644741 246367.266847758 -1.69953653780694
-0.0678279438415122 52944.8240664938 -1.47610970294622 -246974.480351485 -0.376605346811632 34.7833617031108
5.56653991122738 0.0361713254775427 197297.142256690 0.802697521049529 -87.4935912381782 -0.0504125898702509
0.410840691063419 -247341.339091709 5.02714890072835 1214533.79620113 2.83888902153701 -166.779120688123
246734.857503928 -0.346433003966073 -87.1795788996776 2.60143644204397 1215195.98272167 -2.36242713115735
-1.30857894347732 34.6478012553392 0.0173325214982212 -165.977540011457 -1.09781377470450 108.258384753611
</added_mass>
<!--
2. Clean version of 1. above. BL and TR blocks skew symmetric,
globally symmetrised. Mainly here to check that the warnings
raised by DART about lack of zeros and (skew)symmetry do
not have a material impact.
-->
<!-- <added_mass>
52733. 0. 0. 0. 246854. -2.
0. 52945. 0. -246854. 0. 61.
0. 0. 197297. 2. -61. 0.
0. -246854. 2. 1214534. 3. -166.
246854. 0. -61. 3. 1215196. -2.
-2. 61. 0. -166. -2. 108.
</added_mass> -->
<damping>
7209.55521458289 -0.00241865277674112 -0.656452733818339 0.0362151909394597 33068.9436025348 -0.277065103262815
-0.00574983097131929 7224.96421786452 0.0739544503252989 -33093.8859951854 -0.0481987286722465 4.65143300682749
-0.894991216445364 1.44416946591210 114644.248735475 -6.26262145357765 -57.3651869899508 -0.0632414440092088
0.0458640797833837 -33189.4228421519 -2.06423557434899 152022.421220666 0.311347231737735 -21.3664338314253
33165.4358604128 -0.0326285489204398 -57.6246853052043 0.264850645030705 152122.332407559 -1.27495177084548
-0.231015729667316 4.65422866544508 -0.00392458624416725 -21.3177927485565 -1.06001165595936 0.0259605842341352
</damping>
</radiation>
<excitation>
<combined>
<re>
3750.27966906368
1.36136318915143
422045.810882563
-12.1223298789796
17026.4196175993
-0.120671686522160
</re>
<im>
154952.048410117
0.0258067417631121
119022.435012338
-1.48920899489199
712781.363146319
-5.43599198405567
</im>
</combined>
<froude_krylov>
<re>
9.23543827040243
0.0162480147898594
622401.014204239
-6.38980408679980
-282.389237456753
-0.000103055222405902
</re>
<im>
126959.968499544
-0.0166309938157517
-34.6068541762491
0.533226736595381
590993.613169733
-3.78930171294708
</im>
</froude_krylov>
<scattering>
<re>
3741.04423079327
1.34511517436157
-200355.203321676
-5.73252579217983
17308.8088550560
-0.120568631299754
</re>
<im>
27992.0799105738
0.0424377355788638
119057.041866514
-2.02243573148737
121787.749976586
-1.64669027110858
</im>
</scattering>
</excitation>
</hydro_coeffs>
<!-- unscaled hydrodynamics coefficients (overrides) -->
<hydro_coeffs>
<scaled>0</scaled>
<hydrostatic>
<linear_restoring>
0. 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0.
0. 0. 777494.4 -3.6 -402.7 0.
0. 0. -3.6 6167224.2 -0.1 0.
0. 0. -402.7 -0.1 6179979.4 0.
0. 0. 0. 0. 0. 0.
</linear_restoring>
</hydrostatic>
<radiation>
<!--
1. Added mass calculated using Capytaine and converted
to WEC-Sim hdf5 with bemio, T = 6.0s, w = 1.0472 rad/s
-->
<added_mass>
52732.7109003133 -0.0461102712478722 5.88390664387022 0.296417351644741 246367.266847758 -1.69953653780694
-0.0678279438415122 52944.8240664938 -1.47610970294622 -246974.480351485 -0.376605346811632 34.7833617031108
5.56653991122738 0.0361713254775427 197297.142256690 0.802697521049529 -87.4935912381782 -0.0504125898702509
0.410840691063419 -247341.339091709 5.02714890072835 1214533.79620113 2.83888902153701 -166.779120688123
246734.857503928 -0.346433003966073 -87.1795788996776 2.60143644204397 1215195.98272167 -2.36242713115735
-1.30857894347732 34.6478012553392 0.0173325214982212 -165.977540011457 -1.09781377470450 108.258384753611
</added_mass>
<!--
2. Clean version of 1. above. BL and TR blocks skew symmetric,
globally symmetrised. Mainly here to check that the warnings
raised by DART about lack of zeros and (skew)symmetry do
not have a material impact.
-->
<!-- <added_mass>
52733. 0. 0. 0. 246854. -2.
0. 52945. 0. -246854. 0. 61.
0. 0. 197297. 2. -61. 0.
0. -246854. 2. 1214534. 3. -166.
246854. 0. -61. 3. 1215196. -2.
-2. 61. 0. -166. -2. 108.
</added_mass> -->
<damping>
7209.55521458289 -0.00241865277674112 -0.656452733818339 0.0362151909394597 33068.9436025348 -0.277065103262815
-0.00574983097131929 7224.96421786452 0.0739544503252989 -33093.8859951854 -0.0481987286722465 4.65143300682749
-0.894991216445364 1.44416946591210 114644.248735475 -6.26262145357765 -57.3651869899508 -0.0632414440092088
0.0458640797833837 -33189.4228421519 -2.06423557434899 152022.421220666 0.311347231737735 -21.3664338314253
33165.4358604128 -0.0326285489204398 -57.6246853052043 0.264850645030705 152122.332407559 -1.27495177084548
-0.231015729667316 4.65422866544508 -0.00392458624416725 -21.3177927485565 -1.06001165595936 0.0259605842341352
</damping>
</radiation>
<excitation>
<combined>
<re>
3750.27966906368
1.36136318915143
422045.810882563
-12.1223298789796
17026.4196175993
-0.120671686522160
</re>
<im>
154952.048410117
0.0258067417631121
119022.435012338
-1.48920899489199
712781.363146319
-5.43599198405567
</im>
</combined>
<froude_krylov>
<re>
9.23543827040243
0.0162480147898594
622401.014204239
-6.38980408679980
-282.389237456753
-0.000103055222405902
</re>
<im>
126959.968499544
-0.0166309938157517
-34.6068541762491
0.533226736595381
590993.613169733
-3.78930171294708
</im>
</froude_krylov>
<scattering>
<re>
3741.04423079327
1.34511517436157
-200355.203321676
-5.73252579217983
17308.8088550560
-0.120568631299754
</re>
<im>
27992.0799105738
0.0424377355788638
119057.041866514
-2.02243573148737
121787.749976586
-1.64669027110858
</im>
</scattering>
</excitation>
</hydro_coeffs>

<!-- enable / disable forces -->
<forces>
<gravity_on>1</gravity_on>
<buoyancy_on>1</buoyancy_on>
<hydrostatic_restoring_on>1</hydrostatic_restoring_on>
<radiation_damping_on>1</radiation_damping_on>
<radiation_added_mass_on>1</radiation_added_mass_on>
<excitation_on>1</excitation_on>
<excitation_froude_krylov_on>1</excitation_froude_krylov_on>
<excitation_scattering_on>1</excitation_scattering_on>
</forces>
<!-- enable / disable forces -->
<forces>
<gravity_on>1</gravity_on>
<buoyancy_on>1</buoyancy_on>
<hydrostatic_restoring_on>1</hydrostatic_restoring_on>
<radiation_damping_on>1</radiation_damping_on>
<radiation_added_mass_on>1</radiation_added_mass_on>
<excitation_on>1</excitation_on>
<excitation_froude_krylov_on>1</excitation_froude_krylov_on>
<excitation_scattering_on>1</excitation_scattering_on>
</forces>

<!-- enable / disable debug messages -->
<debug>
<gravity_on>0</gravity_on>
<buoyancy_on>0</buoyancy_on>
<radiation_damping_on>0</radiation_damping_on>
<radiation_added_mass_on>0</radiation_added_mass_on>
<excitation_on>0</excitation_on>
</debug>
<!-- enable / disable debug messages -->
<debug>
<gravity_on>0</gravity_on>
<buoyancy_on>0</buoyancy_on>
<radiation_damping_on>0</radiation_damping_on>
<radiation_added_mass_on>0</radiation_added_mass_on>
<excitation_on>0</excitation_on>
</debug>

<!-- publish forces -->
<publishers>
<update_rate>20</update_rate>
<!-- publish forces -->
<publishers>
<update_rate>20</update_rate>

<gravity_on>1</gravity_on>
<buoyancy_on>1</buoyancy_on>
<hydrostatic_restoring_on>1</hydrostatic_restoring_on>
<radiation_damping_on>1</radiation_damping_on>
<radiation_added_mass_on>1</radiation_added_mass_on>
<excitation_on>1</excitation_on>
<excitation_froude_krylov_on>1</excitation_froude_krylov_on>
<excitation_scattering_on>1</excitation_scattering_on>
<gravity_on>1</gravity_on>
<buoyancy_on>1</buoyancy_on>
<hydrostatic_restoring_on>1</hydrostatic_restoring_on>
<radiation_damping_on>1</radiation_damping_on>
<radiation_added_mass_on>1</radiation_added_mass_on>
<excitation_on>1</excitation_on>
<excitation_froude_krylov_on>1</excitation_froude_krylov_on>
<excitation_scattering_on>1</excitation_scattering_on>

<gravity_topic>/force/gravity</gravity_topic>
<buoyancy_topic>/force/buoyancy</buoyancy_topic>
<hydrostatic_restoring_topic>/force/restoring</hydrostatic_restoring_topic>
<radiation_damping_topic>/force/radiation_damping</radiation_damping_topic>
<radiation_added_mass_topic>/force/radiation_added_mass</radiation_added_mass_topic>
<excitation_topic>/force/excitation</excitation_topic>
<excitation_froude_krylov_topic>/force/excitation_froude_krylov</excitation_froude_krylov_topic>
<excitation_scattering_topic>/force/excitation_scattering</excitation_scattering_topic>
</publishers>
<gravity_topic>/force/gravity</gravity_topic>
<buoyancy_topic>/force/buoyancy</buoyancy_topic>
<hydrostatic_restoring_topic>/force/restoring</hydrostatic_restoring_topic>
<radiation_damping_topic>/force/radiation_damping</radiation_damping_topic>
<radiation_added_mass_topic>/force/radiation_added_mass</radiation_added_mass_topic>
<excitation_topic>/force/excitation</excitation_topic>
<excitation_froude_krylov_topic>/force/excitation_froude_krylov</excitation_froude_krylov_topic>
<excitation_scattering_topic>/force/excitation_scattering</excitation_scattering_topic>
</publishers>

</plugin>

Expand Down
3 changes: 2 additions & 1 deletion gz-waves-models/worlds/spheroid_test1a.sdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,8 @@
<plugin
filename="gz-waves1-linear-wave-body-system"
name="gz::sim::systems::LinearWaveBody">
<hdf5_file>/Users/rhys/Code/robotics/gz_waves_ws/src/asv_wave_sim/gz-waves-models/models/spheroid_test1a/config/hydrodata/spheroid_f3676.h5</hdf5_file>

<hdf5_file>models://spheroid_test1a/config/hydrodata/spheroid_f3676.h5</hdf5_file>

<waves>
<regular>
Expand Down
8 changes: 7 additions & 1 deletion gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#include "LinearWaveBody.hh"

#include <gz/common/Profiler.hh>
#include <gz/common/SystemPaths.hh>

#include <gz/msgs/wrench.pb.h>

Expand Down Expand Up @@ -763,7 +764,12 @@ void LinearWaveBody::Configure(const Entity &_entity,
// 1a. read WEC-Sim hdf5 BEM file
if (_sdf->HasElement("hdf5_file"))
{
this->dataPtr->hydroData.hdf5File = _sdf->Get<std::string>("hdf5_file");
std::string fileUri = _sdf->Get<std::string>("hdf5_file");

// Find the file path
common::SystemPaths systemPaths;
this->dataPtr->hydroData.hdf5File = systemPaths.FindFileURI(fileUri);

this->dataPtr->ReadWECSim(_ecm);
}
else
Expand Down

0 comments on commit fba4812

Please sign in to comment.