gz_waves: FFT backend - Part 4/4#885
Open
caguero wants to merge 5 commits into
Open
Conversation
caguero
force-pushed
the
caguero/waves-04-fft
branch
from
3253aa3 to
c9ba107
Compare
caguero
changed the title
caguero
force-pushed
the
caguero/waves-03-rendering
branch
from
f4a163e to
4d50173
Compare
caguero
force-pushed
the
caguero/waves-04-fft
branch
from
c9ba107 to
aa40214
Compare
caguero
force-pushed
the
caguero/waves-03-rendering
branch
2 times, most recently
from
7df415e to
3a1f9b0
Compare
caguero
force-pushed
the
caguero/waves-04-fft
branch
from
aa40214 to
c14f9f6
Compare
caguero
force-pushed
the
caguero/waves-04-fft
branch
from
8025d64 to
b5c9223
Compare
caguero
force-pushed
the
caguero/waves-03-rendering
branch
from
509839f to
85be063
Compare
…I registrar Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
… FFT the default in open_water.sdf Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
Make the FFT engine build on the rebased stack and match its conventions: - ParticleVelocity/Normal return gz::math::Vector3d (the IWaveField interface is now gz::math); Eigen stays internal to EncinoWaves and the grid accessors. - std::cerr/std::cout -> gzerr/gzmsg (wire gz-common into the engine target). - Members switch to gz-style this->member (no trailing underscore). - Wire gz-math/gz-common into CMake + package.xml. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
…ence) ParticleVelocity was a zero stub, so buoyancy/drag saw still water under the FFT backend. EncinoWaves exposes no velocity field or public spectral coefficients, so compute the Eulerian water velocity as the time derivative of the displacement field (∂Dx/∂t, ∂Dy/∂t, ∂η/∂t): each Update propagates a scratch state at t+dt and finite-differences it into velocity grids that ParticleVelocity bilinear-samples. Adds two tests. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
Drop the retired "backend" / "wave model" terms in comments and Doxygen in favour of "engine" / "wave field engine", matching the vocabulary settled in the PR1 review. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
caguero
force-pushed
the
caguero/waves-04-fft
branch
from
b5c9223 to
e88d3bb
Compare
caguero
force-pushed
the
caguero/waves-03-rendering
branch
from
85be063 to
e1af261
Compare
Contributor
|
Hi @caguero, this looks good. I'm in the process of building this to test on macOS under Gazebo Jetty. May have an issue with missing metal shaders, but will let you know if I can get it running. I see in the code you've benchmarked against vrx/gz_waves_rendering/src/systems/Ogre2HeightMapBridge.cc Lines 101 to 103 in e88d3bb Appreciate asv_wave_sims GPL license is a problem for vrx, but an acknowledgement would be nice. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Fourth in the series. Adds the second wave engine, the FFT spectral backend built on the EncinoWaves library, and wires it into the visual and the demo world as a selectable alternative to Gerstner.
How to test it?
What this PR adds
FFTWaveSimulation,libgz-waves-provider-fft) — a plainIWaveFieldbacked by EncinoWaves (TMA/JONSWAP/PM spectra + directional spreading + dispersion).MakeFFTWaveField()is its factory.gz-sim-waves-fft-system) — aWavesSystemBasesubclass that builds the FFT engine and writes theWavefieldcomponent. Its doc block documents the full parameter surface and the<sea_state>precedence rules.gz-sim-waves-fft-gui) — registers the"fft"factory in the GUI soWaterVisualcan rebuild a private FFT engine; same bare, no-ISystem, static-init form as the Gerstner registrar.test/fft_test.cc, 18 tests).gz-sim-waves-fft-guito thewater_surfacemodel (next to the Gerstner registrar) and offers FFT as a commented alternative inopen_water.sdf. Gerstner stays the active default — flip by commenting the Gerstner<plugin>and uncommenting the FFT one.