Merge pull request #1727 from RyanDavies19/main

MoorDyn updates and bug fixes

docs/source/user/moordyn/index.rst

@@ -3,10 +3,11 @@
 MoorDyn Users Guide
 ====================
 
-A standalone C++ version of MoorDyn is also available outside the OpenFAST
-repository.  The documentation for the C++ version covers the input file format
-(`MoorDyn usage <https://moordyn.readthedocs.io/en/latest/usage.html>`_, specifically the section for V2)
+The documentation for MoorDyn is avaible `here <https://moordyn.readthedocs.io>`_. It features instructions 
+for the use of MoorDynF, the module in OpenFAST, and MoorDynC, the standalone C++ code. Input file formats
+are described in the `inputs section <>`_.
+(`MoorDyn usage <https://moordyn.readthedocs.io/en/latest/inputs.html>`_, specifically the section for V2)
 usage of MoorDyn at the FAST.Farm level
-(`MoorDyn with FAST.Farm <https://moordyn.readthedocs.io/en/latest/usage.html#moordyn-with-fast-farm>`_),
+(`MoorDyn with FAST.Farm <https://moordyn.readthedocs.io/en/latest/inputs.html#moordyn-with-fast-farm-inputs>`_),
 and links to publications with the relevant theory.
 

glue-codes/fast-farm/src/FAST_Farm_Subs.f90

@@ -2006,7 +2006,7 @@ subroutine FARM_MD_Increment(t, n, farm, ErrStat, ErrMsg)
    ! ----- map MD load outputs to each turbine's substructure -----   (taken from U FullOpt1...)
    do nt = 1,farm%p%NumTurbines
 
-      if (farm%MD%p%nCpldCons(nt) > 0 ) then   ! only map loads if MoorDyn has connections to this turbine (currently considering only Point connections <<< )
+      if (farm%MD%p%nCpldPoints(nt) > 0 ) then   ! only map loads if MoorDyn has connections to this turbine (currently considering only Point connections <<< )
 
          ! copy the MD output mesh for this turbine into a copy mesh within the FAST instance
          !CALL MeshCopy ( farm%MD%y%CoupledLoads(nt), farm%FWrap(nt)%m%Turbine%MeshMapData%u_FarmMD_CoupledLoads, MESH_NEWCOPY, ErrStat2, ErrMsg2 )      

modules/moordyn/README.md

@@ -16,12 +16,10 @@ The Fortran implementation of MoorDyn, which has been developed
 following the FAST Modularization Framework, is included as a module in
 OpenFAST.
 
-For the C++ implementation of MoorDyn, see http://www.matt-hall.ca/moordyn.
-"MoorDyn C" can be compiled as a dynamically-linked library and features
-simpler functions for easy coupling with models or scripts coded in C/C++,
-Fortran, Matlab/Simulink, etc. It has recently been integrated into WEC-Sim.
+For the C++ implementation of MoorDyn, see https://github.com/FloatingArrayDesign/MoorDyn.
+"MoorDynC" is more adaptable to unique use cases and couplings. It can be compiled as a dynamically-linked library or wrapped for use in Python (as a module), Fortran, and Matlab. It features simpler functions for easy coupling with models or scripts coded in C/C++, Fortran, Matlab/Simulink, etc. An example of this coupling is it’s integration into WEC-Sim.
 
-Both forms of MoorDyn feature the same underlying mooring model, use similar
+Both forms of MoorDyn feature the same underlying mooring model, use the same
 input and output conventions, and are being updated and improved in parallel.
 They follow the same version numbering, with a "C" or "F" suffix for
 differentiation.

modules/moordyn/src/MoorDyn_Body.f90

@@ -25,7 +25,7 @@ MODULE MoorDyn_Body
    USE NWTC_Library
    USE MoorDyn_Misc
    !USE MoorDyn_Line,           only : Line_SetEndKinematics, Line_GetEndStuff
-   USE MoorDyn_Point,           only : Connect_SetKinematics, Connect_GetNetForceAndMass
+   USE MoorDyn_Point,           only : Point_SetKinematics, Point_GetNetForceAndMass
    USE MoorDyn_Rod,             only : Rod_Initialize, Rod_SetKinematics, Rod_GetNetForceAndMass
 
    IMPLICIT NONE
@@ -43,7 +43,7 @@ MODULE MoorDyn_Body
    PUBLIC :: Body_GetStateDeriv
    PUBLIC :: Body_DoRHS
    PUBLIC :: Body_GetCoupledForce
-   PUBLIC :: Body_AddConnect
+   PUBLIC :: Body_AddPoint
    PUBLIC :: Body_AddRod
 
 
@@ -81,12 +81,13 @@ SUBROUTINE Body_Setup( Body, tempArray, p, ErrStat, ErrMsg)
       CALL TranslateMass6to6DOF(Body%rCG, Mtemp, Body%M0)  ! account for potential CG offset <<< is the direction right? <<<
 
       DO J=1,3
-         Body%M0(J,J) = Body%M0(J,J) + Body%BodyV*Body%BodyCa(J) ! add added mass in each direction about ref point (so only diagonals) <<< eventually expand to multi D
+         Body%M0(J,J) = Body%M0(J,J) + Body%BodyV*Body%BodyCa(J)* p%rhow ! add added mass in each direction about ref point (so only diagonals) <<< eventually expand to multi D
       END DO
 
       ! --------------- if this is an independent body (not coupled) ----------
       ! set initial position and orientation of body from input file 
-      Body%r6 = tempArray
+      Body%r6(1:3) = tempArray(1:3)
+      Body%r6(4:6) = tempArray(4:6) * (pi/180)
 
       ! calculate orientation matrix based on latest angles
       !RotMat(r6[3], r6[4], r6[5], OrMat);
@@ -134,7 +135,7 @@ END SUBROUTINE Body_Setup
 !         if (m%RodList(Body%attachedR(l))%typeNum == 2)  CALL Rod_Initialize(m%RodList(Body%attachedR(l)), dummyStates, m%LineList)
 !      END DO
 !      
-!      ! Note: Connections don't need any initialization
+!      ! Note: Points don't need any initialization
 !      
 !   END SUBROUTINE Body_InitializeUnfree
 !   !--------------------------------------------------------------
@@ -157,15 +158,15 @@ SUBROUTINE Body_Initialize(Body, states, m)
       states(1:6 ) = Body%v6
 
 
-      ! set positions of any dependent connections and rods now (before they are initialized)
+      ! set positions of any dependent points and rods now (before they are initialized)
       CALL Body_SetDependentKin(Body, 0.0_DbKi, m)
 
       ! If any Rod is fixed to the body (not pinned), initialize it now because otherwise it won't be initialized
       DO l=1, Body%nAttachedR
          if (m%RodList(Body%attachedR(l))%typeNum == 2)  CALL Rod_Initialize(m%RodList(Body%attachedR(l)), dummyStates,  m)
       END DO
 
-      ! Note: Connections don't need any initialization
+      ! Note: Points don't need any initialization
 
    END SUBROUTINE Body_Initialize
    !--------------------------------------------------------------
@@ -181,15 +182,15 @@ SUBROUTINE Body_InitializeUnfree(Body, m)
       REAL(DbKi)                            :: dummyStates(12) ! dummy vector to mimic states when initializing a rigidly attached rod
 
 
-      ! set positions of any dependent connections and rods now (before they are initialized)
+      ! set positions of any dependent points and rods now (before they are initialized)
       CALL Body_SetDependentKin(Body, 0.0_DbKi, m)
 
       ! If any Rod is fixed to the body (not pinned), initialize it now because otherwise it won't be initialized
       DO l=1, Body%nAttachedR
          if (m%RodList(Body%attachedR(l))%typeNum == 2)  CALL Rod_Initialize(m%RodList(Body%attachedR(l)), dummyStates,  m)
       END DO
 
-      ! Note: Connections don't need any initialization
+      ! Note: Points don't need any initialization
 
    END SUBROUTINE Body_InitializeUnfree
    !--------------------------------------------------------------
@@ -206,7 +207,7 @@ SUBROUTINE Body_SetKinematics(Body, r_in, v_in, a_in, t, m)
       Real(DbKi),            INTENT(IN   )  :: v_in(6)   ! 6-DOF velocity
       Real(DbKi),             INTENT(IN   ) :: a_in(6)       ! 6-DOF acceleration (only used for coupled rods)
       Real(DbKi),            INTENT(IN   )  :: t         ! instantaneous time
-      TYPE(MD_MiscVarType),  INTENT(INOUT)  :: m         ! passing along all mooring objects (for simplicity, since Bodies deal with Rods and Connections)
+      TYPE(MD_MiscVarType),  INTENT(INOUT)  :: m         ! passing along all mooring objects (for simplicity, since Bodies deal with Rods and Points)
 
 
       INTEGER(IntKi)                   :: l
@@ -259,26 +260,26 @@ SUBROUTINE Body_SetState(Body, X, t, m)
       Body%v6 = X(1:6)    ! get velocities
 
 
-      ! set positions of any dependent connections and rods
+      ! set positions of any dependent points and rods
       CALL Body_SetDependentKin(Body, t, m)
 
    END SUBROUTINE Body_SetState
    !--------------------------------------------------------------
 
 
-   ! set the states (positions and velocities) of any connects or rods that are part of this body
+   ! set the states (positions and velocities) of any points or rods that are part of this body
    ! also computes the orientation matrix (never skip this sub!)
    !--------------------------------------------------------------
    SUBROUTINE Body_SetDependentKin(Body, t, m)
 
       Type(MD_Body),         INTENT(INOUT)  :: Body        ! the Bodyion object
       REAL(DbKi),            INTENT(IN   )  :: t
-      TYPE(MD_MiscVarType),  INTENT(INOUT)  :: m           ! passing along all mooring objects (for simplicity, since Bodies deal with Rods and Connections)
+      TYPE(MD_MiscVarType),  INTENT(INOUT)  :: m           ! passing along all mooring objects (for simplicity, since Bodies deal with Rods and Points)
 
       INTEGER(IntKi)                        :: l              ! index of attached objects
 
-      Real(DbKi)                            :: rConnect(3)
-      Real(DbKi)                            :: rdConnect(3)
+      Real(DbKi)                            :: rPoint(3)
+      Real(DbKi)                            :: rdPoint(3)
       Real(DbKi)                            :: rRod(6)
       Real(DbKi)                            :: vRod(6)
       Real(DbKi)                            :: aRod(6)
@@ -289,15 +290,15 @@ SUBROUTINE Body_SetDependentKin(Body, t, m)
       !CALL SmllRotTrans('', Body%r6(4), Body%r6(5), Body%r6(6), Body%TransMat, '', ErrStat2, ErrMsg2)
       Body%OrMat = TRANSPOSE( EulerConstruct( Body%r6(4:6) ) ) ! full Euler angle approach <<<< need to check order 
 
-      ! set kinematics of any dependent connections
+      ! set kinematics of any dependent points
       do l = 1,Body%nAttachedC
 
-         CALL transformKinematics(Body%rConnectRel(:,l), Body%r6, Body%OrMat, Body%v6, rConnect, rdConnect) !<<< should double check this function
+         CALL transformKinematics(Body%rPointRel(:,l), Body%r6, Body%OrMat, Body%v6, rPoint, rdPoint) !<<< should double check this function
 
          ! >>> need to add acceleration terms here too? <<<
 
-         ! pass above to the connection and get it to calculate the forces
-         CALL Connect_SetKinematics( m%ConnectList(Body%attachedC(l)), rConnect, rdConnect, m%zeros6(1:3), t, m)
+         ! pass above to the point and get it to calculate the forces
+         CALL Point_SetKinematics( m%PointList(Body%attachedC(l)), rPoint, rdPoint, m%zeros6(1:3), t, m)
       end do
 
       ! set kinematics of any dependent Rods
@@ -424,11 +425,11 @@ SUBROUTINE Body_DoRHS(Body, m, p)
 
 
 
-      ! Get contributions from any dependent connections
+      ! Get contributions from any dependent points
       do l = 1,Body%nAttachedC
 
-         ! get net force and mass from Connection on body ref point (global orientation)
-         CALL Connect_GetNetForceAndMass( m%ConnectList(Body%attachedC(l)), Body%r6(1:3), F6_i, M6_i, m, p)
+         ! get net force and mass from Point on body ref point (global orientation)
+         CALL Point_GetNetForceAndMass( m%PointList(Body%attachedC(l)), Body%r6(1:3), F6_i, M6_i, m, p)
 
          if (ABS(F6_i(5)) > 1.0E12) then
             print *, "Warning: extreme pitch moment from body-attached Point ", l
@@ -488,33 +489,33 @@ END SUBROUTINE Body_GetCoupledForce
 
 
 
-   ! this function handles assigning a connection to a body
+   ! this function handles assigning a point to a body
    !--------------------------------------------------------------
-   SUBROUTINE Body_AddConnect(Body, connectID, coords)
+   SUBROUTINE Body_AddPoint(Body, pointID, coords)
 
-      Type(MD_Body),      INTENT(INOUT)  :: Body        ! the Connection object
-      Integer(IntKi),     INTENT(IN   )  :: connectID
+      Type(MD_Body),      INTENT(INOUT)  :: Body        ! the Point object
+      Integer(IntKi),     INTENT(IN   )  :: pointID
       REAL(DbKi),         INTENT(IN   )  :: coords(3)
 
 
-      IF (wordy > 0) Print*, "C", connectID, "->B", Body%IdNum
+      IF (wordy > 0) Print*, "P", pointID, "->B", Body%IdNum
 
       IF(Body%nAttachedC < 30) THEN                ! this is currently just a maximum imposed by a fixed array size.  could be improved.
-         Body%nAttachedC = Body%nAttachedC + 1     ! increment the number connected
-         Body%AttachedC(Body%nAttachedC) = connectID
-         Body%rConnectRel(:,Body%nAttachedC) = coords  ! store relative position of connect on body
+         Body%nAttachedC = Body%nAttachedC + 1     ! increment the number pointed
+         Body%AttachedC(Body%nAttachedC) = pointID
+         Body%rPointRel(:,Body%nAttachedC) = coords  ! store relative position of point on body
       ELSE
          Print*, "too many Points attached to Body ", Body%IdNum, " in MoorDyn!"
       END IF
 
-   END SUBROUTINE Body_AddConnect
+   END SUBROUTINE Body_AddPoint
 
 
    ! this function handles assigning a rod to a body
    !--------------------------------------------------------------
    SUBROUTINE Body_AddRod(Body, rodID, coords)
 
-      Type(MD_Body),      INTENT(INOUT)  :: Body        ! the Connection object
+      Type(MD_Body),      INTENT(INOUT)  :: Body        ! the Point object
       Integer(IntKi),     INTENT(IN   )  :: rodID
       REAL(DbKi),         INTENT(IN   )  :: coords(6)  ! positions of rod ends A and B relative to body
 

modules/moordyn/src/MoorDyn_Driver.f90

@@ -249,7 +249,7 @@ PROGRAM MoorDyn_Driver
    endif
 
    do iTurb = 1, MD_p%nTurbines
-      ncIn = ncIn + MD_p%nCpldBodies(iTurb)*6 + MD_p%nCpldRods(iTurb)*6 + MD_p%nCpldCons(iTurb)*3
+      ncIn = ncIn + MD_p%nCpldBodies(iTurb)*6 + MD_p%nCpldRods(iTurb)*6 + MD_p%nCpldPoints(iTurb)*3
    end do
 
    call WrScr('MoorDyn has '//trim(num2lstr(ncIn))//' coupled DOFs and/or active-tensioned inputs.')
@@ -519,7 +519,7 @@ PROGRAM MoorDyn_Driver
          END DO
 
          ! any coupled points (type -1)
-         DO l = 1, MD_p%nCpldCons(iTurb)
+         DO l = 1, MD_p%nCpldPoints(iTurb)
 
             MD_u(1)%CoupledKinematics(iTurb)%TranslationDisp(:,K) = r_in(i, J:J+2) - MD_u(1)%CoupledKinematics(iTurb)%Position(:,K) - MD_p%TurbineRefPos(:,iTurb)
             MD_u(1)%CoupledKinematics(iTurb)%TranslationVel( :,K) = rd_in(i, J:J+2)
@@ -608,7 +608,7 @@ PROGRAM MoorDyn_Driver
             END DO
 
             ! any coupled points (type -1)
-            DO l = 1, MD_p%nCpldCons(iTurb)
+            DO l = 1, MD_p%nCpldPoints(iTurb)
 
                MD_u(1)%CoupledKinematics(iTurb)%TranslationDisp(:,K) = r_in(i, J:J+2) - MD_u(1)%CoupledKinematics(iTurb)%Position(:,K) - MD_p%TurbineRefPos(:,iTurb)
                MD_u(1)%CoupledKinematics(iTurb)%TranslationVel( :,K) = rd_in(i, J:J+2)