Merge remote-tracking branch 'OpenFAST/dev-unstable-pointers' into b/…

…ExtLoads_pointers

modules/hydrodyn/src/HydroDyn.f90

@@ -2619,39 +2619,35 @@ SUBROUTINE HD_Perturb_x( p, n, perturb_sign, x, dx )
 
 
    ! local variables
-   integer(intKi)                                      :: i, offset1, offset2, n2
+   integer(intKi)                                      :: i, j, k
 
    if ( p%totalStates == 0 ) return
 
    !Note: All excitation states for all bodies are stored 1st, then all radiation states
    dx = p%dx(n)
-   offset1 = 1
-   if ( n <= p%totalExctnStates ) then
-
-      ! Find body index for exctn states
-      do i=1,p%nWAMITObj 
-         offset2 = offset1 + p%WAMIT(i)%SS_Exctn%numStates
-         if ( n >= offset1 .and. n < offset2) then
-            n2 = n - offset1 + 1
-            x%WAMIT(i)%SS_Exctn%x( n2 ) = x%WAMIT(i)%SS_Exctn%x( n2 ) + dx * perturb_sign 
-            exit
+   k = 1
+
+   ! Find body index for exctn states
+   do i = 1, p%nWAMITObj 
+      do j = 1, p%WAMIT(i)%SS_Exctn%numStates
+         if (n == k) then
+            x%WAMIT(i)%SS_Exctn%x(j) = x%WAMIT(i)%SS_Exctn%x(j) + dx * perturb_sign 
+            return
          end if
-         offset1 = offset2
+         k = k + 1
       end do
+   end do
 
-   else
-      offset1 = p%totalExctnStates + 1
-      ! Find body index for rdtn states
-      do i=1,p%nWAMITObj
-         offset2 = offset1 + p%WAMIT(i)%SS_Exctn%numStates
-         if ( n >= offset1 .and. n < offset2) then
-            n2 = n - offset1 + 1
-            x%WAMIT(i)%SS_Rdtn%x( n2 ) = x%WAMIT(i)%SS_Rdtn%x( n2 ) + dx * perturb_sign 
-            exit
+   ! Find body index for rdtn states
+   do i = 1, p%nWAMITObj
+      do j = 1, p%WAMIT(i)%SS_Rdtn%numStates
+         if (n == k) then
+            x%WAMIT(i)%SS_Rdtn%x(j) = x%WAMIT(i)%SS_Rdtn%x(j) + dx * perturb_sign 
+            return
          end if
-         offset1 = offset2
+         k = k + 1
       end do
-   end if
+   end do
 
 END SUBROUTINE HD_Perturb_x
 

modules/hydrodyn/src/HydroDyn_Input.f90

@@ -364,9 +364,19 @@ SUBROUTINE HydroDyn_ParseInput( InputFileName, OutRootName, FileInfo_In, InputFi
       END IF
 
       DO I = 1,InputFileData%Morison%NAxCoefs
-            ! read the table entries   AxCoefID   CdAx  CaAx    in the HydroDyn input file
+         ! read the table entries AxCoefID, AxCd, AxCa, AxCp, AxFdMod, AxVnCOff, AxFDLoFSc in the HydroDyn input file
+         ! Try reading in 7 entries first
          call ParseAry( FileInfo_In, CurLine, ' axial coefficients line '//trim( Int2LStr(I)), tmpReArray, size(tmpReArray), ErrStat2, ErrMsg2, UnEc )
-            if (Failed())  return;
+         if ( ErrStat2 /= 0 ) then ! Try reading in 5 entries
+            tmpReArray(6) = -1.0  ! AxVnCoff
+            tmpReArray(7) =  1.0  ! AxFDLoFSc
+            call ParseAry( FileInfo_In, CurLine, ' axial coefficients line '//trim( Int2LStr(I)), tmpReArray(1:5), 5, ErrStat2, ErrMsg2, UnEc )
+            if ( ErrStat2 /= 0 ) then ! Try reading in 4 entries
+               tmpReArray(5) =  0.0  ! AxFdMod
+               call ParseAry( FileInfo_In, CurLine, ' axial coefficients line '//trim( Int2LStr(I)), tmpReArray(1:4), 4, ErrStat2, ErrMsg2, UnEc )
+               if (Failed())  return;
+            end if
+         end if
          InputFileData%Morison%AxialCoefs(I)%AxCoefID = NINT(tmpReArray(1))
          InputFileData%Morison%AxialCoefs(I)%AxCd     =      tmpReArray(2)
          InputFileData%Morison%AxialCoefs(I)%AxCa     =      tmpReArray(3)

modules/hydrodyn/src/Morison.f90

@@ -23,7 +23,6 @@ MODULE Morison
    USE Waves
    USE Morison_Types  
    USE Morison_Output
-   USE SeaState_Interp
    USE SeaSt_WaveField
   ! USE HydroDyn_Output_Types
    USE NWTC_Library
@@ -2603,7 +2602,7 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
 
    !===============================================================================================
    ! Calculate the fluid kinematics at all mesh nodes and store for use in the equations below
-   CALL WaveField_GetWaveKin( p%WaveField, m%SeaSt_Interp_m, Time, m%DispNodePosHdn, .FALSE., m%nodeInWater, m%WaveElev1, m%WaveElev2, m%WaveElev, m%FDynP, m%FV, m%FA, m%FAMCF, ErrStat2, ErrMsg2 )
+   CALL WaveField_GetWaveKin( p%WaveField, m%WaveField_m, Time, m%DispNodePosHdn, .FALSE., m%nodeInWater, m%WaveElev1, m%WaveElev2, m%WaveElev, m%FDynP, m%FV, m%FA, m%FAMCF, ErrStat2, ErrMsg2 )
      CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
    ! Compute fluid velocity relative to the structure
    DO j = 1, p%NNodes
@@ -2716,9 +2715,10 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
 
             ! lower node
             Ioffset   = mem%h_cmg_l(i)*mem%h_cmg_l(i)*mem%m_mg_l(i)
+            Imat      = 0.0_ReKi
             Imat(1,1) = mem%I_rmg_l(i) - Ioffset
             Imat(2,2) = mem%I_rmg_l(i) - Ioffset
-            Imat(3,3) = mem%I_lmg_l(i) - Ioffset
+            Imat(3,3) = mem%I_lmg_l(i)
             Imat      =  matmul(matmul(CMatrix, Imat), CTrans)
             iArm = mem%h_cmg_l(i) * k_hat
             iTerm     = ( -a_s1 - cross_product(omega_s1, cross_product(omega_s1,iArm )) - cross_product(alpha_s1,iArm) ) * mem%m_mg_l(i)
@@ -2731,9 +2731,10 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
 
             ! upper node
             Ioffset   = mem%h_cmg_u(i)*mem%h_cmg_u(i)*mem%m_mg_u(i)
+            Imat      = 0.0_ReKi
             Imat(1,1) = mem%I_rmg_u(i) - Ioffset
             Imat(2,2) = mem%I_rmg_u(i) - Ioffset
-            Imat(3,3) = mem%I_lmg_u(i) - Ioffset
+            Imat(3,3) = mem%I_lmg_u(i)
             Imat      =  matmul(matmul(CMatrix, Imat), CTrans)
             iArm = mem%h_cmg_u(i) * k_hat
             iTerm     = ( -a_s2 - cross_product(omega_s2, cross_product(omega_s2,iArm )) - cross_product(alpha_s2,iArm) ) * mem%m_mg_u(i)
@@ -2829,9 +2830,11 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
          ! ------------------ flooded ballast inertia: sides: Section 6.1.1 : Always compute regardless of PropPot setting ---------------------
          ! lower node
          Ioffset   = mem%h_cfb_l(i)*mem%h_cfb_l(i)*mem%m_fb_l(i)
+         Imat      = 0.0_ReKi
          Imat(1,1) = mem%I_rfb_l(i) - Ioffset
          Imat(2,2) = mem%I_rfb_l(i) - Ioffset
-         Imat(3,3) = mem%I_lfb_l(i) - Ioffset
+         Imat(3,3) = mem%I_lfb_l(i)
+         Imat      =  matmul(matmul(CMatrix, Imat), CTrans)
          iArm = mem%h_cfb_l(i) * k_hat
          iTerm     = ( -a_s1  - cross_product(omega_s1, cross_product(omega_s1,iArm ))  -  cross_product(alpha_s1,iArm) ) * mem%m_fb_l(i)
          F_If(1:3) =  iTerm
@@ -2843,9 +2846,11 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
 
          ! upper node
          Ioffset   = mem%h_cfb_u(i)*mem%h_cfb_u(i)*mem%m_fb_u(i)
+         Imat      = 0.0_ReKi
          Imat(1,1) = mem%I_rfb_u(i) - Ioffset
          Imat(2,2) = mem%I_rfb_u(i) - Ioffset
-         Imat(3,3) = mem%I_lfb_u(i) - Ioffset
+         Imat(3,3) = mem%I_lfb_u(i)
+         Imat      =  matmul(matmul(CMatrix, Imat), CTrans)
          iArm = mem%h_cfb_u(i) * k_hat
          iTerm     = ( -a_s2  - cross_product(omega_s2, cross_product(omega_s2,iArm ))  -  cross_product(alpha_s2,iArm) ) * mem%m_fb_u(i)
          F_If(1:3) = iTerm
@@ -3037,7 +3042,7 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
         ! Compute the distributed loads at the point of intersection between the member and the free surface !
         !----------------------------------------------------------------------------------------------------!   
         ! Get wave kinematics at the free-surface intersection. Set forceNodeInWater=.TRUE. to guarantee the free-surface intersection is in water.
-        CALL WaveField_GetNodeWaveKin( p%WaveField, m%SeaSt_Interp_m, Time, FSInt, .TRUE., nodeInWater, WaveElev1, WaveElev2, WaveElev, FDynP, FV, FA, FAMCF, ErrStat2, ErrMsg2 )
+        CALL WaveField_GetNodeWaveKin( p%WaveField, m%WaveField_m, Time, FSInt, .TRUE., nodeInWater, WaveElev1, WaveElev2, WaveElev, FDynP, FV, FA, FAMCF, ErrStat2, ErrMsg2 )
           CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
         FDynPFSInt = REAL(FDynP,ReKi)
         FVFSInt    = REAL(FV,   ReKi)
@@ -3579,7 +3584,7 @@ SUBROUTINE GetTotalWaveElev( Time, pos, Zeta, ErrStat, ErrMsg )
       ErrStat   = ErrID_None
       ErrMsg    = ""
 
-      Zeta = WaveField_GetNodeTotalWaveElev( p%WaveField, m%SeaSt_Interp_m, Time, pos, ErrStat2, ErrMsg2 )
+      Zeta = WaveField_GetNodeTotalWaveElev( p%WaveField, m%WaveField_m, Time, pos, ErrStat2, ErrMsg2 )
         CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
 
    END SUBROUTINE GetTotalWaveElev
@@ -3597,7 +3602,7 @@ SUBROUTINE GetFreeSurfaceNormal( Time, pos, r, n, ErrStat, ErrMsg)
       ErrStat   = ErrID_None
       ErrMsg    = ""
 
-      CALL WaveField_GetNodeWaveNormal( p%WaveField, m%SeaSt_Interp_m, Time, pos, r, n, ErrStat2, ErrMsg2 )
+      CALL WaveField_GetNodeWaveNormal( p%WaveField, m%WaveField_m, Time, pos, r, n, ErrStat2, ErrMsg2 )
         CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
 
    END SUBROUTINE GetFreeSurfaceNormal
@@ -4212,7 +4217,7 @@ SUBROUTINE Morison_UpdateDiscState( Time, u, p, x, xd, z, OtherState, m, errStat
       END IF
 
       ! Get fluid velocity at the joint
-      CALL WaveField_GetNodeWaveVel( p%WaveField, m%SeaSt_Interp_m, Time, pos, .FALSE., nodeInWater, FVTmp, ErrStat2, ErrMsg2 )
+      CALL WaveField_GetNodeWaveVel( p%WaveField, m%WaveField_m, Time, pos, .FALSE., nodeInWater, FVTmp, ErrStat2, ErrMsg2 )
           CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
       FV   = REAL(FVTmp, ReKi)
       vrel = ( FV - u%Mesh%TranslationVel(:,J) ) * nodeInWater

modules/hydrodyn/src/Morison.txt

@@ -13,7 +13,6 @@
 # ...... Include files (definitions from NWTC Library) ............................................................................
 # make sure that the file name does not have any trailing white spaces!
 include   Registry_NWTC_Library.txt
-usefrom   SeaState_Interp.txt
 usefrom   SeaSt_WaveField.txt
 #
 #
@@ -323,7 +322,7 @@ typedef   ^                            ^                             ReKi
 typedef   ^                            ^                             ReKi                     V_rel_n                       {:}            -         -         "Normal relative flow velocity at joints"        m/s
 typedef   ^                            ^                             ReKi                     V_rel_n_HiPass                {:}            -         -         "High-pass filtered normal relative flow velocity at joints"   m/s
 typedef   ^                            ^                             MeshMapType              VisMeshMap                      -            -         -         "Mesh mapping for visualization mesh" -
-typedef   ^                            ^                         SeaSt_Interp_MiscVarType     SeaSt_Interp_m                -              -         -         "misc var information from the SeaState Interpolation module"   -
+typedef   ^                            ^                          SeaSt_WaveField_MiscVarType WaveField_m                     -            -         -         "misc var information from the SeaState Interpolation module"   -
 
 # ..... Parameters ................................................................................................................
 # Define parameters here:

modules/hydrodyn/src/Morison_Types.f90

@@ -31,7 +31,6 @@
 !! unpack routines associated with each defined data type. This code is automatically generated by the FAST Registry.
 MODULE Morison_Types
 !---------------------------------------------------------------------------------------------------------------------------------
-USE SeaState_Interp_Types
 USE SeaSt_WaveField_Types
 USE NWTC_Library
 IMPLICIT NONE
@@ -386,7 +385,7 @@ MODULE Morison_Types
     REAL(ReKi) , DIMENSION(:), ALLOCATABLE  :: V_rel_n      !< Normal relative flow velocity at joints [m/s]
     REAL(ReKi) , DIMENSION(:), ALLOCATABLE  :: V_rel_n_HiPass      !< High-pass filtered normal relative flow velocity at joints [m/s]
     TYPE(MeshMapType)  :: VisMeshMap      !< Mesh mapping for visualization mesh [-]
-    TYPE(SeaSt_Interp_MiscVarType)  :: SeaSt_Interp_m      !< misc var information from the SeaState Interpolation module [-]
+    TYPE(SeaSt_WaveField_MiscVarType)  :: WaveField_m      !< misc var information from the SeaState Interpolation module [-]
   END TYPE Morison_MiscVarType
 ! =======================
 ! =========  Morison_ParameterType  =======
@@ -3570,7 +3569,7 @@ subroutine Morison_CopyMisc(SrcMiscData, DstMiscData, CtrlCode, ErrStat, ErrMsg)
    call NWTC_Library_CopyMeshMapType(SrcMiscData%VisMeshMap, DstMiscData%VisMeshMap, CtrlCode, ErrStat2, ErrMsg2)
    call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
    if (ErrStat >= AbortErrLev) return
-   call SeaSt_Interp_CopyMisc(SrcMiscData%SeaSt_Interp_m, DstMiscData%SeaSt_Interp_m, CtrlCode, ErrStat2, ErrMsg2)
+   call SeaSt_WaveField_CopyMisc(SrcMiscData%WaveField_m, DstMiscData%WaveField_m, CtrlCode, ErrStat2, ErrMsg2)
    call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
    if (ErrStat >= AbortErrLev) return
 end subroutine
@@ -3654,7 +3653,7 @@ subroutine Morison_DestroyMisc(MiscData, ErrStat, ErrMsg)
    end if
    call NWTC_Library_DestroyMeshMapType(MiscData%VisMeshMap, ErrStat2, ErrMsg2)
    call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
-   call SeaSt_Interp_DestroyMisc(MiscData%SeaSt_Interp_m, ErrStat2, ErrMsg2)
+   call SeaSt_WaveField_DestroyMisc(MiscData%WaveField_m, ErrStat2, ErrMsg2)
    call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
 end subroutine
 
@@ -3694,7 +3693,7 @@ subroutine Morison_PackMisc(RF, Indata)
    call RegPackAlloc(RF, InData%V_rel_n)
    call RegPackAlloc(RF, InData%V_rel_n_HiPass)
    call NWTC_Library_PackMeshMapType(RF, InData%VisMeshMap) 
-   call SeaSt_Interp_PackMisc(RF, InData%SeaSt_Interp_m) 
+   call SeaSt_WaveField_PackMisc(RF, InData%WaveField_m) 
    if (RegCheckErr(RF, RoutineName)) return
 end subroutine
 
@@ -3740,7 +3739,7 @@ subroutine Morison_UnPackMisc(RF, OutData)
    call RegUnpackAlloc(RF, OutData%V_rel_n); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpackAlloc(RF, OutData%V_rel_n_HiPass); if (RegCheckErr(RF, RoutineName)) return
    call NWTC_Library_UnpackMeshMapType(RF, OutData%VisMeshMap) ! VisMeshMap 
-   call SeaSt_Interp_UnpackMisc(RF, OutData%SeaSt_Interp_m) ! SeaSt_Interp_m 
+   call SeaSt_WaveField_UnpackMisc(RF, OutData%WaveField_m) ! WaveField_m 
 end subroutine
 
 subroutine Morison_CopyParam(SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg)

modules/hydrodyn/src/SS_Excitation.f90

@@ -20,8 +20,8 @@
 !    
 !**********************************************************************************************************************************
 MODULE SS_Excitation
-   USE SeaState_Interp
-   USE SS_Excitation_Types   
+   USE SS_Excitation_Types
+   use SeaSt_WaveField, only: WaveField_GetNodeTotalWaveElev
    USE NWTC_Library
 
    IMPLICIT NONE
@@ -110,8 +110,9 @@ function GetWaveElevation ( time, u_in, t_in, p, m, ErrStat, ErrMsg )
       call SS_Exc_Input_ExtrapInterp(u_in, t_in, u_out, time, ErrStat2, ErrMsg2 )
       call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
 
-      do iBody = 1, p%NBody  
-         GetWaveElevation(iBody) = SeaSt_Interp_3D( time, u_out%PtfmPos(1:2,iBody), p%WaveField%WaveElev1, p%WaveField%SeaSt_interp_p, m%SeaSt_Interp_m%FirstWarn_Clamp, ErrStat2, ErrMsg2 )
+      do iBody = 1, p%NBody
+!FIXME: this is the total wave elevation.  Should it include second order, or should it only include first order?
+         GetWaveElevation(iBody) = WaveField_GetNodeTotalWaveElev(p%WaveField, m%WaveField_m, time, u_out%PtfmPos(1:2,iBody), ErrStat2, ErrMsg2 )
          call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
       end do
 

modules/hydrodyn/src/SS_Excitation.txt

@@ -14,7 +14,6 @@
 # (File) Revision #: $Rev$
 # URL: $HeadURL$
 ###################################################################################################################################
-usefrom   SeaState_Interp.txt
 usefrom   SeaSt_WaveField.txt
 
 typedef SS_Excitation/SS_Exc   InitInputType       CHARACTER(1024)              InputFile        -  - -   "Name of the input file" -
@@ -24,14 +23,14 @@ typedef ^                      ^                   R8Ki
 typedef ^                      ^                   SeaSt_WaveFieldType         *WaveField       -  - -    "Pointer to SeaState wave field" -
 
 
-																                
+
 typedef ^                      InitOutputType      CHARACTER(10)                WriteOutputHdr  {:} - -   "Header of the output" -
 typedef ^                      InitOutputType      CHARACTER(10)                WriteOutputUnt  {:} - -   "Units of the output" -
-																                
+
 typedef ^                      ContinuousStateType R8Ki                         x               {:} - -   "Continuous States" -
-																                
+
 typedef ^                      DiscreteStateType   SiKi                         DummyDiscState   -  - -   "" -
-																                
+
 # Define constraint states here:                                                
 typedef ^                      ConstraintStateType SiKi                         DummyConstrState -  - -   "" -
 
@@ -44,7 +43,7 @@ typedef ^                      ^                   SS_Exc_ContinuousStateType
 # Define any data that are used only for efficiency purposes (these variables are not associated with time):
 #   e.g. indices for searching in an array, large arrays that are local variables in any routine called multiple times, etc.
 typedef ^                      MiscVarType         INTEGER                      LastIndWave      -  1 -   "last used index in the WaveTime array" -
-typedef   ^                      ^                 SeaSt_Interp_MiscVarType     SeaSt_Interp_m   -  - -   "misc var information from the SeaState Interpolation module"   -
+typedef   ^                      ^                 SeaSt_WaveField_MiscVarType  WaveField_m      -  - -   "misc var information from the SeaState Interpolation module"   -
 
 
 # ..... Parameters .........................