…LargeYaw

* Modified the HD Driver code to include large yaw offset.
* Modified HydroDyn to pass relevant new inputs and parameters to submodules
* Modified the Morison module to account for large yaw offset.

…HDLargeYaw

* Moved the helper subroutines to a separate YawOffset module to avoid code duplication.
* Fixed single-precision compile.

Added wrapper functions for GetSmllRotAngs in the YawOffset module to accommodate large yaw offset.

Updated the linear wave excitation from the WAMIT module to work with dynamic large platform yaw offset.

Minimize code duplication.

Update the potential-flow wave-radiation and hydrostatic loads to account for the large platform yaw offset.

…ns with only one grid point

This is convenient by allowing the various possible combinations of HD potential-flow wave-excitation settings to share the same array dimensions and interpolation functions.

Streamline linear wave excitation interpolation in WAMIT.f90.

Don't update PtfmRefY if PtfmYMod != 1.

Various fixes

* Added some basic checking for the new driver inputs associated with yaw offset.
* Added the YawJoint subroutine under Morison_CalcOutput to clean up the code.

Included some additional checks for input validity.

Added static yaw rotation of the Morison mesh nodes based on PtfmRefY when PtfmYMod=0 and WaveDisp=0.

Updated the second-order wave loads to support large platform yaw offset.

Added some missing deallocation command in WAMIT2.

Added rotation of the full difference-frequency and sum-frequency QTF loads based on static PtfmRefY.

* Update the checking of wave heading ranges in WAMIT2 (this part needs more work).
* Bug fix for the rotation matrix of second-order wave loads.

…heading check into a dedicated subroutine to minimize code duplication

…AMIT2

…od=1 (dynamic) in WAMIT2.

…the known issue mentioned at the top of the file

If working correctly, need to implement similar updates to the WAMIT module as well.

… of HydroDyn

* This is based on the recent update to the WAMIT2 module in commit (80dfcae).
* This update should address the potential issue with wave headings crossing the +/-180 deg cut.

…with warning messages

Also updated some error message.

…ge yaw offset (PtfmYMod=1)

…ge platform rotation

…use exact body rotation for consistency with ED

… based on low-pass filtering the yaw displacement and pass PtfmRefY to HD

… consistent with ED convention

…pdate the small angle check of inital PtfmYaw to be relative to PtfmRefY instead of zero.

…us states for consistency.

…rge platform yaw modeling

…uyan modes (floating only) for testing

…to be compatible with large rotation

…to be compatible with large rotation

…ordinate transformation

…nsistent with ED

… exactly

…rames of reference

…eference yaw position is detected

* GuyanLoadCorrection will always be true from now on.
* SubDyn source code can be streamlined in the future with GuyanLoadCorrection always being used.

…put and HydroDyn_UpdateStates

…(rigid-body) orientation for floating structures every time GetExtForceOnInternalDOF is called

This change is needed to allow potentially large platform rotation.

…ng in the M?N?RD?e channels

…cOutput

Should use modulo instead of mod

…ans for consistency

… approximation

* HydroDyn now assumes the three rotation angles are the Tait-Bryan roll, pitch, and yaw angles following the intrinsic yaw-pitch-roll convenction.
* The angular velocity and acceleration passed to HydroDyn should be the true angular velocity and acceleration vectors in the inertial frame, not the time derivatives of the Tait-Bryan angles.

VS: add missing source file for HD

…pretension

Previously, p%FG contains both precomputed self-weight and cable pretension. For clarity, cable pretension is removed from p%FG and only saved in p%FC.