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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.7.0] — 2026-02-26

Added

  • MoorDyn v2.6.1 mooring integration — coupled MoorDyn as a Git submodule, enabling catenary and taut mooring analysis. New MoorDynConfig struct and HydroSystem::SetMoorDynConfig() API for mooring configuration.
  • MoorDyn force coupling into HydroSystem — mooring forces from MoorDyn are applied at each timestep alongside hydrostatic, radiation, and excitation forces
  • RM3 mooring demonstration — YAML-driven RM3 two-body point absorber with 3-line catenary mooring (6 MoorDyn segments: anchor–clump + clump–fairlead per line), runnable via run_hydrochrono
  • Real-time mooring line visualization — VSG GUI renders mooring line node positions queried from MoorDyn at each frame, with dynamic tension color mapping (blue-to-red gradient scaled to current tension range)
  • RM3 mooring verification test — automated CTest comparison against WEC-Sim/MoorDyn co-simulation reference data for body heave and fairlead tensions (correlation ≈ 0.998, max tension error ≈ 1.8% of mean)
  • hydroc/math_constants.h — centralised M_PI definition replacing scattered per-file definitions

Changed

  • IRF truncation separated from smoothing and tapering — RadiationKernelProcessing now treats truncation as a distinct step from the smoothing/tapering pipeline
  • RegularWave encapsulation — members made private with SetPeriod()/SetOmega() accessors

Fixed

  • Cross-machine build robustness — resolved HDF5 target name conflicts and Eigen3 detection issues affecting some build environments
  • Chrono API and test infrastructure compatibility — updated for recent Chrono API changes

[0.6.0] — 2026-02-19

Added

  • State-space radiation damping — alternative to convolution-based radiation that approximates RIRF kernels as a sum of exponential and oscillatory modes, reducing per-timestep cost from O(N) to O(1). New classes: RadiationStateSpaceModel, RadiationStateSpaceFitter, RadiationStateSpaceComponent
  • RadiationMethod enum and StateSpaceOptions configuration struct for selecting between convolution and state-space radiation at runtime
  • YAML configuration keys — radiation_method, ss_max_order, ss_r2_threshold, output_kernel_fit
  • Kernel-fit diagnostics — R² values and mode counts per DOF pair, optionally written to HDF5 output via output_kernel_fit: true
  • Unit tests for RadiationStateSpaceModel and RadiationStateSpaceFitter
  • Regression tests comparing state-space vs convolution for sphere decay, OSWEC decay, sphere irregular waves, and OSWEC irregular waves
  • Frequency-domain excitation transfer function for irregular waves — replaces time-domain convolution with a pre-computed transfer function, evaluating in O(N_freq) per DOF per timestep instead of O(N_irf × N_freq)

Changed

  • Irregular wave model decoupled from simulation parameters — removed simulation_dt_ and simulation_duration_ from IrregularWaveParams, eliminating the dependency that prevented adaptive time integration. nfrequencies_ is now a required parameter.
  • Removed redundant num_bodies from wave classes — ownership moved to WaveBase, set automatically in HydroSystem::AddWaves(), simplifying the wave creation API and eliminating a source of configuration errors
  • Wave class code quality cleanup

Removed

  • Stale include/hydroc/hydro_forces.h (replaced by hydro_system.h)
  • Duplicate demo demos/sphere/sphere_irreg_waves.cpp

Fixed

  • State-space fitter: order-1 fits were rejected — the fitting loop started at order 2 and FitFromSVD explicitly rejected order < 2, so single-exponential kernels (rank-1 Hankel matrix) always returned invalid results

[0.5.0] — 2026-02-16

Added

  • VSG free-surface visualization — animated water-surface mesh driven by the wave model, with per-vertex normals and configurable grid resolution (vsg_water_surface)
  • Radiated wave overlay — visualization of body-generated wave patterns layered on the free surface (vsg_radiation_surface)
  • PBR ocean materials, scene lighting, and GUI stats component — new modules vsg_materials, vsg_lighting, vsg_gui_component, vsg_config
  • Wave model API extensions — GetElevationGradientXY() and GetElevationForVisualization() added to WaveBase, RegularWave, and IrregularWave
  • Added-mass determinism unit test — test_added_mass_determinism verifies bit-identical added-mass assembly across independent trials and sweeps all Chrono solver types
  • Regression tests produce HDF5 output validated by external Python comparison scripts; tests now run fully headless (all GUI/visualization code stripped from test builds)
  • CPack packaging — project DLLs (HydroChrono, HydroChronoGUI) now included in the installer ZIP
  • OpenMP runtime (vcomp140.dll) explicitly installed for MSVC packages
  • Chrono DLL collection changed to glob all DLLs from Chrono's bin directory, capturing transitive VSG/yaml-cpp/draco dependencies

Changed

  • Switched added-mass implementation to Chrono's built-in ChLoadHydrodynamics — replaces HydroChrono's legacy ChLoadAddedMass (ChLoadCustomMultiple-based) as the default. The legacy implementation is retained in the codebase and can be re-activated by uncommenting #define HYDROCHRONO_USE_LEGACY_ADDED_MASS in hydro_system.h.
  • Default solver changed from GMRES to SPARSE_QR for most regression tests (faster, deterministic)
  • Irregular wave surface evaluation performance improved (parallelism and caching)
  • Regression test report generator now correctly parses CTest logs for PASS/FAIL status instead of assuming PASS when plots exist

Fixed

  • YAML runner: LoadSolverData never called — YAML structure mismatch prevented solver data from being loaded
  • YAML runner: mesh file paths broken — m_script_directory was empty, breaking relative model_file: paths
  • Regression report image paths — report generator now computes correct relative paths to plot images instead of using hardcoded paths
  • OSWEC solver switched from SPARSE_QR to GMRES to prevent divergence (see Known Issues)
  • RM3 decay test fixes and cleanup
  • Sphere irregular wave test default arguments corrected
  • Regular wave excitation phase indexing for multi-body systems — RegularWave::GetForceAtTime() used excitation_force_phase_[rowEx] instead of excitation_force_phase_[body_offset + rowEx], causing body 2+ to use body 1's excitation phase. This affected the RM3 plate (and any second+ body) heave response in regular waves. Single-body models (e.g., sphere) were unaffected.

Known Issues

  • OSWEC tests use GMRES solver. OSWEC demos and tests use GMRES rather than SPARSE_QR. SPARSE_QR may work for OSWEC but has not yet been validated.
  • PSOR solver cannot handle added-mass assembly. The added-mass determinism unit test solver sweep reports that PSOR errors out because it cannot handle stiffness/damping matrices. All other swept solvers (SPARSE_QR, SPARSE_LU, MINRES, GMRES, BICGSTAB, BARZILAIBORWEIN, APGD) pass assembly.

[0.4.0] — 2025

  • YAML-driven CLI (run_hydrochrono) for running simulations from text-based configuration files
  • Cummins-equation time-domain solver with BEM hydrodynamic coefficients (BEMIO HDF5 format)
  • Multibody system support via Project Chrono (bodies, joints, actuators)
  • Irrlicht run-time visualization (optional)
  • HDF5 output for post-processing and validation
  • Regression test suite (IEA sphere, OSWEC, RM3, F3OF / DeepCWind)
  • Windows installer (ZIP) via CPack