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Merged
andrew-platt merged 11 commits into from
Nov 26, 2025
Merged

Cubic interpolation for SeaState and HydroDyn #3007

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7c38ef8
Added a set of generic uniform grid interpolation tools
luwang00 Sep 18, 2025
e9cc4ac
Bug fix in the new grid interpolation SetIndex subroutine
luwang00 Sep 22, 2025
02f3f66
Adopted the new grid interpolation module in SeaState, HydroDyn, and …
luwang00 Sep 22, 2025
5db120c
Updated the method for computing the free-surface normal
luwang00 Sep 23, 2025
1d0ee6c
Cleanup
luwang00 Sep 23, 2025
20dd14f
Merge dev branch
luwang00 Sep 29, 2025
90ae7c1
Update r-test pointer
luwang00 Sep 29, 2025
31474e2
Update r-test pointer
luwang00 Sep 29, 2025
667208f
Merge remote-tracking branch 'OpenFAST/dev' into f/GridInterp
andrew-platt Nov 25, 2025
3831599
GridInterp: update VS projects
andrew-platt Nov 25, 2025
7ce0149
Update GridInterp based on review comments
luwang00 Nov 26, 2025
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27 changes: 8 additions & 19 deletions modules/hydrodyn/src/Morison.f90
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Expand Up @@ -3482,7 +3482,7 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
REAL(ReKi) :: sinBeta, sinBeta1, sinBeta2
REAL(ReKi) :: cosBeta, cosBeta1, cosBeta2
REAL(ReKi) :: CMatrix(3,3), CMatrix1(3,3), CMatrix2(3,3), CTrans(3,3) ! Direction cosine matrix for element, and its transpose
REAL(ReKi) :: l, z1, z2, zMid, r1, r2, r1b, r2b, r1In, r2In, rMidIn, rn, rn1, rn2, z_hi, zFillGroup
REAL(ReKi) :: l, z1, z2, zMid, r1, r2, r1b, r2b, r1In, r2In, rMidIn, z_hi, zFillGroup
REAL(ReKi) :: Sa1, Sa2, Sa1b, Sa2b, SaMidb, Sa1In, Sa2In, SaMidIn
REAL(ReKi) :: Sb1, Sb2, Sb1b, Sb2b, SbMidb, Sb1In, Sb2In, SbMidIn
REAL(ReKi) :: dRdl_mg, dSadl_mg, dSbdl_mg ! shorthand for taper including marine growth of element i
Expand Down Expand Up @@ -3779,16 +3779,10 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
ELSE IF (mem%MHstLMod == 2) THEN ! Alternative hydrostatic load calculation
! Get free surface elevation and normal at the element midpoint (both assumed constant over the element)
posMid = 0.5 * (pos1+pos2)
! rn is only used to estimate free surface normal numerically
IF (mem%MSecGeom == MSecGeom_Cyl) THEN
rn = 0.5 * (r1b +r2b )
ELSE IF (mem%MSecGeom == MSecGeom_Rec) THEN
rn = MAX( 0.5*(Sa1b+Sa2b), 0.5*(Sb1b+Sb2b) )
END IF
IF (p%WaveField%WaveStMod > 0) THEN
CALL GetTotalWaveElev( Time, posMid, ZetaMid, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL GetFreeSurfaceNormal( Time, posMid, rn, n_hat, ErrStat2, ErrMsg2 )
CALL GetFreeSurfaceNormal( Time, posMid, n_hat, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
FSPt = (/posMid(1),posMid(2),ZetaMid/) ! Reference point on the free surface
ELSE
Expand Down Expand Up @@ -4563,22 +4557,18 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
if (mem%MSecGeom==MSecGeom_Cyl) then
r1 = mem%RMGB( 1)
r2 = mem%RMGB(N+1)
rn1 = r1
rn2 = r2
else if (mem%MSecGeom==MSecGeom_Rec) then
Sa1 = mem%SaMGB( 1)
Sa2 = mem%SaMGB(N+1)
Sb1 = mem%SbMGB( 1)
Sb2 = mem%SbMGB(N+1)
rn1 = MAX(Sa1,Sb1)
rn2 = MAX(Sa2,Sb2)
end if
if (mem%i_floor == 0) then ! both ends above or at seabed
! Compute loads on the end plate of node 1
IF (p%WaveField%WaveStMod > 0) THEN
CALL GetTotalWaveElev( Time, pos1, Zeta1, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL GetFreeSurfaceNormal( Time, pos1, rn1, n_hat, ErrStat2, ErrMsg2 )
CALL GetFreeSurfaceNormal( Time, pos1, n_hat, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
FSPt = (/pos1(1),pos1(2),Zeta1/) ! Reference point on the free surface
ELSE
Expand Down Expand Up @@ -4606,7 +4596,7 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
IF (p%WaveField%WaveStMod > 0) THEN
CALL GetTotalWaveElev( Time, pos2, Zeta2, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL GetFreeSurfaceNormal( Time, pos2, rn2, n_hat, ErrStat2, ErrMsg2 )
CALL GetFreeSurfaceNormal( Time, pos2, n_hat, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
FSPt = (/pos2(1),pos2(2),Zeta2/) ! Reference point on the free surface
ELSE
Expand Down Expand Up @@ -4635,7 +4625,7 @@ SUBROUTINE Morison_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, errStat,
IF (p%WaveField%WaveStMod > 0) THEN
CALL GetTotalWaveElev( Time, pos2, Zeta2, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL GetFreeSurfaceNormal( Time, pos2, rn2, n_hat, ErrStat2, ErrMsg2 )
CALL GetFreeSurfaceNormal( Time, pos2, n_hat, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
FSPt = (/pos2(1),pos2(2),Zeta2/) ! Reference point on the free surface
ELSE
Expand Down Expand Up @@ -4769,10 +4759,9 @@ SUBROUTINE GetTotalWaveElev( Time, pos, Zeta, ErrStat, ErrMsg )

END SUBROUTINE GetTotalWaveElev

SUBROUTINE GetFreeSurfaceNormal( Time, pos, r, n, ErrStat, ErrMsg)
SUBROUTINE GetFreeSurfaceNormal( Time, pos, n, ErrStat, ErrMsg)
REAL(DbKi), INTENT( In ) :: Time
REAL(ReKi), INTENT( In ) :: pos(*) ! Position at which free-surface normal is to be calculated. Third entry ignored if present.
REAL(ReKi), INTENT( In ) :: r ! Distance for central differencing
REAL(ReKi), INTENT( OUT ) :: n(3) ! Free-surface normal vector
INTEGER(IntKi), INTENT( OUT ) :: ErrStat ! Error status of the operation
CHARACTER(*), INTENT( OUT ) :: ErrMsg ! Error message if errStat /= ErrID_None
Expand All @@ -4782,7 +4771,7 @@ SUBROUTINE GetFreeSurfaceNormal( Time, pos, r, n, ErrStat, ErrMsg)
ErrStat = ErrID_None
ErrMsg = ""

CALL WaveField_GetNodeWaveNormal( p%WaveField, m%WaveField_m, Time, pos, r, n, ErrStat2, ErrMsg2 )
CALL WaveField_GetNodeWaveNormal( p%WaveField, m%WaveField_m, Time, pos, n, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )

END SUBROUTINE GetFreeSurfaceNormal
Expand Down Expand Up @@ -5716,7 +5705,7 @@ SUBROUTINE getElementHstLds_Mod1( Time, pos1, pos2, Zeta1, Zeta2, k_hat, r1, r2,
rh = r1 + h0*dRdl
! Estimate the free-surface normal at the free-surface intersection, n_hat
IF ( p%WaveField%WaveStMod > 0_IntKi ) THEN ! If wave stretching is enabled, compute free surface normal
CALL GetFreeSurfaceNormal( Time, FSInt, rh, n_hat, ErrStat2, ErrMsg2 )
CALL GetFreeSurfaceNormal( Time, FSInt, n_hat, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
ELSE ! Without wave stretching, use the normal of the SWL
n_hat = (/0.0_ReKi,0.0_ReKi,1.0_ReKi/)
Expand Down
2 changes: 1 addition & 1 deletion modules/hydrodyn/src/Morison.txt
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Expand Up @@ -462,7 +462,7 @@ typedef ^ ^ ReKi
typedef ^ ^ ReKi V_rel_n_HiPass {:} - - "High-pass filtered normal relative flow velocity at joints" m/s
typedef ^ ^ ReKi zFillGroup {:} - - "Instantaneous highest point of each filled group" m
typedef ^ ^ MeshMapType VisMeshMap - - - "Mesh mapping for visualization mesh" -
typedef ^ ^ SeaSt_WaveField_MiscVarType WaveField_m - - - "misc var information from the SeaState Interpolation module" -
typedef ^ ^ GridInterp_MiscVarType WaveField_m - - - "misc var information from the Grid Interpolation module" -

# ..... Parameters ................................................................................................................
# Define parameters here:
Expand Down
10 changes: 5 additions & 5 deletions modules/hydrodyn/src/Morison_Types.f90
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Expand Up @@ -530,7 +530,7 @@ MODULE Morison_Types
REAL(ReKi) , DIMENSION(:), ALLOCATABLE :: V_rel_n_HiPass !< High-pass filtered normal relative flow velocity at joints [m/s]
REAL(ReKi) , DIMENSION(:), ALLOCATABLE :: zFillGroup !< Instantaneous highest point of each filled group [m]
TYPE(MeshMapType) :: VisMeshMap !< Mesh mapping for visualization mesh [-]
TYPE(SeaSt_WaveField_MiscVarType) :: WaveField_m !< misc var information from the SeaState Interpolation module [-]
TYPE(GridInterp_MiscVarType) :: WaveField_m !< misc var information from the Grid Interpolation module [-]
END TYPE Morison_MiscVarType
! =======================
! ========= Morison_ParameterType =======
Expand Down Expand Up @@ -4693,7 +4693,7 @@ 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_WaveField_CopyMisc(SrcMiscData%WaveField_m, DstMiscData%WaveField_m, CtrlCode, ErrStat2, ErrMsg2)
call GridInterp_CopyMisc(SrcMiscData%WaveField_m, DstMiscData%WaveField_m, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
end subroutine
Expand Down Expand Up @@ -4780,7 +4780,7 @@ 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_WaveField_DestroyMisc(MiscData%WaveField_m, ErrStat2, ErrMsg2)
call GridInterp_DestroyMisc(MiscData%WaveField_m, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
end subroutine

Expand Down Expand Up @@ -4821,7 +4821,7 @@ subroutine Morison_PackMisc(RF, Indata)
call RegPackAlloc(RF, InData%V_rel_n_HiPass)
call RegPackAlloc(RF, InData%zFillGroup)
call NWTC_Library_PackMeshMapType(RF, InData%VisMeshMap)
call SeaSt_WaveField_PackMisc(RF, InData%WaveField_m)
call GridInterp_PackMisc(RF, InData%WaveField_m)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

Expand Down Expand Up @@ -4868,7 +4868,7 @@ subroutine Morison_UnPackMisc(RF, OutData)
call RegUnpackAlloc(RF, OutData%V_rel_n_HiPass); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%zFillGroup); if (RegCheckErr(RF, RoutineName)) return
call NWTC_Library_UnpackMeshMapType(RF, OutData%VisMeshMap) ! VisMeshMap
call SeaSt_WaveField_UnpackMisc(RF, OutData%WaveField_m) ! WaveField_m
call GridInterp_UnpackMisc(RF, OutData%WaveField_m) ! WaveField_m
end subroutine

subroutine Morison_CopyParam(SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg)
Expand Down
2 changes: 1 addition & 1 deletion modules/hydrodyn/src/SS_Excitation.txt
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Expand Up @@ -43,7 +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_WaveField_MiscVarType WaveField_m - - - "misc var information from the SeaState Interpolation module" -
typedef ^ ^ GridInterp_MiscVarType WaveField_m - - - "misc var information from the Grid Interpolation module" -


# ..... Parameters .........................
Expand Down
10 changes: 5 additions & 5 deletions modules/hydrodyn/src/SS_Excitation_Types.f90
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Expand Up @@ -73,7 +73,7 @@ MODULE SS_Excitation_Types
! ========= SS_Exc_MiscVarType =======
TYPE, PUBLIC :: SS_Exc_MiscVarType
INTEGER(IntKi) :: LastIndWave = 1 !< last used index in the WaveTime array [-]
TYPE(SeaSt_WaveField_MiscVarType) :: WaveField_m !< misc var information from the SeaState Interpolation module [-]
TYPE(GridInterp_MiscVarType) :: WaveField_m !< misc var information from the Grid Interpolation module [-]
END TYPE SS_Exc_MiscVarType
! =======================
! ========= SS_Exc_ParameterType =======
Expand Down Expand Up @@ -494,7 +494,7 @@ subroutine SS_Exc_CopyMisc(SrcMiscData, DstMiscData, CtrlCode, ErrStat, ErrMsg)
ErrStat = ErrID_None
ErrMsg = ''
DstMiscData%LastIndWave = SrcMiscData%LastIndWave
call SeaSt_WaveField_CopyMisc(SrcMiscData%WaveField_m, DstMiscData%WaveField_m, CtrlCode, ErrStat2, ErrMsg2)
call GridInterp_CopyMisc(SrcMiscData%WaveField_m, DstMiscData%WaveField_m, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
end subroutine
Expand All @@ -508,7 +508,7 @@ subroutine SS_Exc_DestroyMisc(MiscData, ErrStat, ErrMsg)
character(*), parameter :: RoutineName = 'SS_Exc_DestroyMisc'
ErrStat = ErrID_None
ErrMsg = ''
call SeaSt_WaveField_DestroyMisc(MiscData%WaveField_m, ErrStat2, ErrMsg2)
call GridInterp_DestroyMisc(MiscData%WaveField_m, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
end subroutine

Expand All @@ -518,7 +518,7 @@ subroutine SS_Exc_PackMisc(RF, Indata)
character(*), parameter :: RoutineName = 'SS_Exc_PackMisc'
if (RF%ErrStat >= AbortErrLev) return
call RegPack(RF, InData%LastIndWave)
call SeaSt_WaveField_PackMisc(RF, InData%WaveField_m)
call GridInterp_PackMisc(RF, InData%WaveField_m)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

Expand All @@ -528,7 +528,7 @@ subroutine SS_Exc_UnPackMisc(RF, OutData)
character(*), parameter :: RoutineName = 'SS_Exc_UnPackMisc'
if (RF%ErrStat /= ErrID_None) return
call RegUnpack(RF, OutData%LastIndWave); if (RegCheckErr(RF, RoutineName)) return
call SeaSt_WaveField_UnpackMisc(RF, OutData%WaveField_m) ! WaveField_m
call GridInterp_UnpackMisc(RF, OutData%WaveField_m) ! WaveField_m
end subroutine

subroutine SS_Exc_CopyParam(SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg)
Expand Down
3 changes: 1 addition & 2 deletions modules/hydrodyn/src/WAMIT.f90
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Expand Up @@ -241,7 +241,7 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, ErrS

! Set up wave excitation grid - Can no longer use the WaveField parameters due to different headings
! Copy WaveField grid parameters
call SeaSt_WaveField_CopyParam(p%WaveField%GridParams, p%ExctnGridParams, 0, ErrStat2, ErrMsg2); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call GridInterp_CopyParam(p%WaveField%VolGridParams, p%ExctnGridParams, 0, ErrStat2, ErrMsg2); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if ( p%ExctnDisp == 0 ) then
p%ExctnGridParams%n(2:3) = 1_IntKi
p%ExctnGridParams%delta(2:3) = 0.0_SiKi
Expand All @@ -257,7 +257,6 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, ErrS
p%ExctnGridParams%pZero(4) = -Pi
end if
p%ExctnGridParams%n(4) = p%NExctnHdg+1
p%ExctnGridParams%Z_depth = -1.0 ! Set to Z_depth to a negative value to indicate uniform "z" grid for platform heading

! This module's implementation requires that if NBodyMod = 2 or 3, then there is one instance of a WAMIT module for each body, therefore, HydroDyn may have NBody > 1, but this WAMIT module will have NBody = 1
if ( (p%NBodyMod > 1) .and. (p%NBody > 1) ) then
Expand Down
5 changes: 3 additions & 2 deletions modules/hydrodyn/src/WAMIT.txt
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Expand Up @@ -17,6 +17,7 @@ usefrom Conv_Radiation.txt
usefrom SS_Radiation.txt
usefrom SS_Excitation.txt
usefrom SeaSt_WaveField.txt
usefrom GridInterp.txt

typedef WAMIT/WAMIT InitInputType INTEGER NBody - - - "[>=1; only used when PotMod=1. If NBodyMod=1, the WAMIT data contains a vector of size 6*NBody x 1 and matrices of size 6*NBody x 6*NBody; if NBodyMod>1, there are NBody sets of WAMIT data each with a vector of size 6 x 1 and matrices of size 6 x 6]" -
typedef ^ ^ INTEGER NBodyMod - - - "Body coupling model {1: include coupling terms between each body and NBody in HydroDyn equals NBODY in WAMIT, 2: neglect coupling terms between each body and NBODY=1 with XBODY=0 in WAMIT, 3: Neglect coupling terms between each body and NBODY=1 with XBODY=/0 in WAMIT} (switch) [only used when PotMod=1]" -
Expand Down Expand Up @@ -95,7 +96,7 @@ typedef ^ ^ SS_Exc_Outp
typedef ^ ^ Conv_Rdtn_MiscVarType Conv_Rdtn - - - "" -
typedef ^ ^ Conv_Rdtn_InputType Conv_Rdtn_u - - - "" -
typedef ^ ^ Conv_Rdtn_OutputType Conv_Rdtn_y - - - "" -
typedef ^ ^ SeaSt_WaveField_MiscVarType WaveField_m - - - "misc var information from the SeaState Interpolation module" -
typedef ^ ^ GridInterp_MiscVarType WaveField_m - - - "misc var information from the Grid Interpolation module" -

# ..... Parameters ................................................................................................................
# Define parameters here:
Expand All @@ -120,7 +121,7 @@ typedef ^ ^ SS_Exc_Para
typedef ^ ^ DbKi DT - - - "" -
typedef ^ ^ SeaSt_WaveFieldType *WaveField - - - "Pointer to wave field"
typedef ^ ^ INTEGER PtfmYMod - - - "Large yaw model" -
typedef ^ ^ SeaSt_WaveField_ParameterType ExctnGridParams - - - "Parameters of WaveExctnGrid" -
typedef ^ ^ GridInterp_ParameterType ExctnGridParams - - - "Parameters of WaveExctnGrid" -
#
#
# ..... Inputs ....................................................................................................................
Expand Down
3 changes: 1 addition & 2 deletions modules/hydrodyn/src/WAMIT2.f90
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Expand Up @@ -2646,7 +2646,7 @@ SUBROUTINE CheckInitInput( InitInp, p, MnDriftData, NewmanAppData, DiffQTFData,

! Set up 2nd-order wave excitation grid
! Copy WaveField grid parameters
call SeaSt_WaveField_CopyParam(InitInp%WaveField%GridParams, p%Exctn2GridParams, 0, ErrStatTmp, ErrMsgTmp); CALL SetErrStat( ErrStatTmp, ErrMsgTmp, ErrStat, ErrMsg, RoutineName)
call GridInterp_CopyParam(InitInp%WaveField%VolGridParams, p%Exctn2GridParams, 0, ErrStatTmp, ErrMsgTmp); CALL SetErrStat( ErrStatTmp, ErrMsgTmp, ErrStat, ErrMsg, RoutineName)
! x and y grids are currently not used for second-order wave excitation
p%Exctn2GridParams%n(2:3) = 1_IntKi
p%Exctn2GridParams%delta(2:3) = 0.0_SiKi
Expand All @@ -2662,7 +2662,6 @@ SUBROUTINE CheckInitInput( InitInp, p, MnDriftData, NewmanAppData, DiffQTFData,
p%Exctn2GridParams%pZero(4) = -Pi
end if
p%Exctn2GridParams%n(4) = p%NExctnHdg+1
p%Exctn2GridParams%Z_depth = -1.0 ! Set to Z_depth to a negative value to indicate uniform "z" grid for platform heading


!> 1. Check that we only specified one of MnDrift, NewmanApp, or DiffQTF
Expand Down
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