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luwang00 wants to merge 19 commits into from
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SubDyn: Improved force outputs at member end nodes/joints #3367

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9450632
Implemented force extrapolation to improve SubDyn force outputs at me…
luwang00 Jun 17, 2026
f7e8d7c
SubDyn: Fixed a sign error in the member load outputs with the OutAll…
luwang00 Jun 23, 2026
db1b213
SubDyn: Removed the inertial member load output channels, e.g., M1N1F…
luwang00 Jun 23, 2026
c0da6e7
SubDyn: Fixed output file column headers with the OutAll option
luwang00 Jun 23, 2026
835a963
Update beams self-weight (only sensor outputs)
RBergua Jun 3, 2026
8b73bfb
Fix (SubDyn): remove incorrect comment about Fg
RBergua Jun 4, 2026
ee6d8df
SubDyn: update CALC_NODE_FORCES description and comments
RBergua Jun 4, 2026
2a4d223
SubDyn: self-weight reconstruction in floating systems
RBergua Jun 5, 2026
5d82014
SubDyn floating: equivalent nodal moments based on the actual directi…
RBergua Jun 6, 2026
94aaf91
SubDyn floating: refactored self-weight output calculation
RBergua Jun 6, 2026
374d19f
SubDyn_Output.f90: clean up trailing whitespace
RBergua Jun 6, 2026
a0d4677
New SD regression test self-weight CTestList
RBergua Jun 9, 2026
821cee3
Add SubDyn self-weight regression test
RBergua Jun 9, 2026
ae7eb8f
SubDyn: Fixed a new bug with load output when dealing with non-beam m…
luwang00 Jun 23, 2026
88c0628
SubDyn_Output.f90: Clarification self-weight vs cable pretension
RBergua Jun 24, 2026
6151e5e
SubDyn: Clean up load output code
luwang00 Jun 24, 2026
6857d52
SubDyn_Output.f90: separate beam self-weight (forces zeroed) and cabl…
RBergua Jun 24, 2026
01ef866
Merge RBergua/SubDyn_self-weight
luwang00 Jun 24, 2026
83b32f0
SubDyn: more clean-up
luwang00 Jun 24, 2026
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481 changes: 273 additions & 208 deletions modules/subdyn/src/SubDyn_Output.f90
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48,617 changes: 20,281 additions & 28,336 deletions modules/subdyn/src/SubDyn_Output_Params.f90
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2 changes: 1 addition & 1 deletion modules/subdyn/src/SubDyn_Registry.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,9 @@ typedef ^ MeshAuxDataType INTEGER NodeCnt {:} - - "Node ordina
typedef ^ MeshAuxDataType INTEGER NodeIDs {:} - - "Node IDs associated with ordinal numbers for the output member"
typedef ^ MeshAuxDataType INTEGER ElmIDs {:}{:} - - "Element IDs connected to each NodeIDs; max 10 elements"
typedef ^ MeshAuxDataType INTEGER ElmNds {:}{:} - - "Flag to indicate 1st or 2nd node of element for each ElmIDs"
typedef ^ MeshAuxDataType R8Ki Me {:}{:}{:}{:} - - "Mass matrix connected to each joint element for outAll output"
typedef ^ MeshAuxDataType R8Ki Ke {:}{:}{:}{:} - - "Mass matrix connected to each joint element for outAll output"
typedef ^ MeshAuxDataType R8Ki Fg {:}{:}{:} - - "Gravity load vector connected to each joint element for requested member output"
typedef ^ MeshAuxDataType LOGICAL extrap {:} - - "Whether to extrapolate force; true for member end nodes if member has more than 1 element"

# CB_MatArrays: Matrices and arrays for CB summary
typedef ^ CB_MatArrays R8Ki MBB {:}{:} - - "FULL MBB ( no constraints applied)"
Expand Down
36 changes: 18 additions & 18 deletions modules/subdyn/src/SubDyn_Types.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,9 @@ MODULE SubDyn_Types
INTEGER(IntKi) , DIMENSION(:), ALLOCATABLE :: NodeIDs !< Node IDs associated with ordinal numbers for the output member [-]
INTEGER(IntKi) , DIMENSION(:,:), ALLOCATABLE :: ElmIDs !< Element IDs connected to each NodeIDs; max 10 elements [-]
INTEGER(IntKi) , DIMENSION(:,:), ALLOCATABLE :: ElmNds !< Flag to indicate 1st or 2nd node of element for each ElmIDs [-]
REAL(R8Ki) , DIMENSION(:,:,:,:), ALLOCATABLE :: Me !< Mass matrix connected to each joint element for outAll output [-]
REAL(R8Ki) , DIMENSION(:,:,:,:), ALLOCATABLE :: Ke !< Mass matrix connected to each joint element for outAll output [-]
REAL(R8Ki) , DIMENSION(:,:,:), ALLOCATABLE :: Fg !< Gravity load vector connected to each joint element for requested member output [-]
LOGICAL , DIMENSION(:), ALLOCATABLE :: extrap !< Whether to extrapolate force; true for member end nodes if member has more than 1 element [-]
END TYPE MeshAuxDataType
! =======================
! ========= CB_MatArrays =======
Expand Down Expand Up @@ -546,18 +546,6 @@ subroutine SD_CopyMeshAuxDataType(SrcMeshAuxDataTypeData, DstMeshAuxDataTypeData
end if
DstMeshAuxDataTypeData%ElmNds = SrcMeshAuxDataTypeData%ElmNds
end if
if (allocated(SrcMeshAuxDataTypeData%Me)) then
LB(1:4) = lbound(SrcMeshAuxDataTypeData%Me)
UB(1:4) = ubound(SrcMeshAuxDataTypeData%Me)
if (.not. allocated(DstMeshAuxDataTypeData%Me)) then
allocate(DstMeshAuxDataTypeData%Me(LB(1):UB(1),LB(2):UB(2),LB(3):UB(3),LB(4):UB(4)), stat=ErrStat2)
if (ErrStat2 /= 0) then
call SetErrStat(ErrID_Fatal, 'Error allocating DstMeshAuxDataTypeData%Me.', ErrStat, ErrMsg, RoutineName)
return
end if
end if
DstMeshAuxDataTypeData%Me = SrcMeshAuxDataTypeData%Me
end if
if (allocated(SrcMeshAuxDataTypeData%Ke)) then
LB(1:4) = lbound(SrcMeshAuxDataTypeData%Ke)
UB(1:4) = ubound(SrcMeshAuxDataTypeData%Ke)
Expand All @@ -582,6 +570,18 @@ subroutine SD_CopyMeshAuxDataType(SrcMeshAuxDataTypeData, DstMeshAuxDataTypeData
end if
DstMeshAuxDataTypeData%Fg = SrcMeshAuxDataTypeData%Fg
end if
if (allocated(SrcMeshAuxDataTypeData%extrap)) then
LB(1:1) = lbound(SrcMeshAuxDataTypeData%extrap)
UB(1:1) = ubound(SrcMeshAuxDataTypeData%extrap)
if (.not. allocated(DstMeshAuxDataTypeData%extrap)) then
allocate(DstMeshAuxDataTypeData%extrap(LB(1):UB(1)), stat=ErrStat2)
if (ErrStat2 /= 0) then
call SetErrStat(ErrID_Fatal, 'Error allocating DstMeshAuxDataTypeData%extrap.', ErrStat, ErrMsg, RoutineName)
return
end if
end if
DstMeshAuxDataTypeData%extrap = SrcMeshAuxDataTypeData%extrap
end if
end subroutine

subroutine SD_DestroyMeshAuxDataType(MeshAuxDataTypeData, ErrStat, ErrMsg)
Expand All @@ -603,15 +603,15 @@ subroutine SD_DestroyMeshAuxDataType(MeshAuxDataTypeData, ErrStat, ErrMsg)
if (allocated(MeshAuxDataTypeData%ElmNds)) then
deallocate(MeshAuxDataTypeData%ElmNds)
end if
if (allocated(MeshAuxDataTypeData%Me)) then
deallocate(MeshAuxDataTypeData%Me)
end if
if (allocated(MeshAuxDataTypeData%Ke)) then
deallocate(MeshAuxDataTypeData%Ke)
end if
if (allocated(MeshAuxDataTypeData%Fg)) then
deallocate(MeshAuxDataTypeData%Fg)
end if
if (allocated(MeshAuxDataTypeData%extrap)) then
deallocate(MeshAuxDataTypeData%extrap)
end if
end subroutine

subroutine SD_PackMeshAuxDataType(RF, Indata)
Expand All @@ -625,9 +625,9 @@ subroutine SD_PackMeshAuxDataType(RF, Indata)
call RegPackAlloc(RF, InData%NodeIDs)
call RegPackAlloc(RF, InData%ElmIDs)
call RegPackAlloc(RF, InData%ElmNds)
call RegPackAlloc(RF, InData%Me)
call RegPackAlloc(RF, InData%Ke)
call RegPackAlloc(RF, InData%Fg)
call RegPackAlloc(RF, InData%extrap)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

Expand All @@ -645,9 +645,9 @@ subroutine SD_UnPackMeshAuxDataType(RF, OutData)
call RegUnpackAlloc(RF, OutData%NodeIDs); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%ElmIDs); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%ElmNds); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%Me); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%Ke); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%Fg); if (RegCheckErr(RF, RoutineName)) return
call RegUnpackAlloc(RF, OutData%extrap); if (RegCheckErr(RF, RoutineName)) return
end subroutine

subroutine SD_CopyCB_MatArrays(SrcCB_MatArraysData, DstCB_MatArraysData, CtrlCode, ErrStat, ErrMsg)
Expand Down
9 changes: 5 additions & 4 deletions reg_tests/CTestList.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -56,11 +56,11 @@ function(regression TEST_SCRIPT EXECUTABLE SOURCE_DIRECTORY BUILD_DIRECTORY STEA
if(STEADYSTATE_FLAG STREQUAL " ")
set(STEADYSTATE_FLAG "")
endif()

if(OTHER_FLAGS STREQUAL " ")
set(OTHER_FLAGS "")
endif()

add_test(
${TESTNAME} ${Python_EXECUTABLE}
${TEST_SCRIPT}
Expand Down Expand Up @@ -111,7 +111,7 @@ function(of_fastlib_regression TESTNAME LABEL)
regression(${TEST_SCRIPT} ${OPENFAST_EXECUTABLE} ${SOURCE_DIRECTORY} ${BUILD_DIRECTORY} " " "${TESTNAME}_fastlib" "${LABEL}" " " ${TESTNAME})
endfunction(of_fastlib_regression)

# openfast aeroacoustic
# openfast aeroacoustic
function(of_regression_aeroacoustic TESTNAME LABEL)
set(TEST_SCRIPT "${CMAKE_CURRENT_LIST_DIR}/executeOpenfastAeroAcousticRegressionCase.py")
set(OPENFAST_EXECUTABLE "${CTEST_OPENFAST_EXECUTABLE}")
Expand Down Expand Up @@ -514,7 +514,7 @@ sd_regression("SD_PendulumDamp" "subdyn;offshore")
sd_regression("SD_Rigid" "subdyn;offshore")
sd_regression("SD_SparHanging" "subdyn;offshore")
sd_regression("SD_AnsysComp1_PinBeam" "subdyn;offshore") # TODO Issue #855
sd_regression("SD_AnsysComp2_Cable" "subdyn;offshore")
sd_regression("SD_AnsysComp2_Cable" "subdyn;offshore")
sd_regression("SD_AnsysComp3_PinBeamCable" "subdyn;offshore") # TODO Issue #855
sd_regression("SD_Spring_Case1" "subdyn;offshore")
sd_regression("SD_Spring_Case2" "subdyn;offshore")
Expand All @@ -523,6 +523,7 @@ sd_regression("SD_Revolute_Joint" "subdyn;offshore")
sd_regression("SD_2Beam_Spring" "subdyn;offshore")
sd_regression("SD_2Beam_Cantilever" "subdyn;offshore")
sd_regression("SD_CantileverBeam_Rectangular" "subdyn;offshore")
sd_regression("SD_SelfWeight_FloatingSystem" "subdyn;offshore")
# TODO test below are bugs, should be added when fixed
# sd_regression("SD_Force" "subdyn;offshore")
# sd_regression("SD_AnsysComp4_UniversalCableRigid" "subdyn;offshore")
Expand Down
2 changes: 1 addition & 1 deletion reg_tests/r-test
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Submodule r-test updated 102 files
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