foamMooring

https://hfchen20.gitlab.io/foamMooring
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foamMooring is a mooring restraints library for OpenFOAM that enables simulating rigid body motions...
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### Install VTK dependencies

Source: https://hfchen20.gitlab.io/foamMooring/installation

Install the appropriate VTK development package based on the Ubuntu version.

```bash
# Ubuntu 20.04
sudo apt install libvtk7-dev
# Ubuntu 22.04 or newer
sudo apt install libvtk9-dev
```

--------------------------------

### Install LAPACK dependencies

Source: https://hfchen20.gitlab.io/foamMooring/installation

Install the required LAPACK libraries for MAP++ functionality.

```bash
sudo apt install liblapack3
sudo apt install liblapack-dev liblapacke-dev
```

--------------------------------

### Define mooring restraints

Source: https://hfchen20.gitlab.io/foamMooring/six-dof-mooring

Example of available mooring restraint types for dynamicMeshDict.

```OpenFOAM
// Example mooring restraints available in libsixDoFMooring
//  moorDynR1 || moorDynR2 || map3R || moodyR 
```

--------------------------------

### Configure Make/files for MAP++

Source: https://hfchen20.gitlab.io/foamMooring/installation

Add the necessary interface files to the Make/files configuration.

```text
map3R/mapFoamInterface.C
map3R/map3R.C
```

--------------------------------

### Configure Make/options for MAP++

Source: https://hfchen20.gitlab.io/foamMooring/installation

Include the required LAPACK and MAP++ library flags in the Make/options configuration.

```text
-llapacke \
-lmap-1.30.00 \
```

--------------------------------

### Clone the foamMooring repository

Source: https://hfchen20.gitlab.io/foamMooring/installation

Create the project directory and clone the repository into the user directory.

```bash
mkdir -p $WM_PROJECT_USER_DIR
cd $WM_PROJECT_USER_DIR
git clone https://gitlab.com/hfchen20/foamMooring.git
cd foamMooring
```

--------------------------------

### Register sixDoFMooring library

Source: https://hfchen20.gitlab.io/foamMooring/six-dof-mooring

Add the library to the controlDict file to enable mooring functionality.

```OpenFOAM
libs    (sixDoFMooring); 
```

--------------------------------

### Compile foamMooring

Source: https://hfchen20.gitlab.io/foamMooring/installation

Execute the build script to compile the libraries.

```bash
./Allwmake
```

--------------------------------

### Configure legacy VTK output in dynamicMeshDict

Source: https://hfchen20.gitlab.io/foamMooring/utilities

Settings to enable runtime generation of legacy VTK files for mooring restraints.

```OpenFOAM
writeMooringVTK    true; // optional, default false
vtkPrefix         "mdv2_pt"; // optional, default depends on the underlying mooring model
vtkStartTime       0; // optional, default 0
outerCorrector     3; // optional, default 3
```

--------------------------------

### Load rigidBodyMooring library in controlDict

Source: https://hfchen20.gitlab.io/foamMooring/rgb-mooring

Add this entry to the controlDict file to enable the rigidBodyMooring library.

```OpenFOAM
libs    (rigidBodyMooring); 
```

--------------------------------

### Compile MAP++

Source: https://hfchen20.gitlab.io/foamMooring/installation

Manually compile the MAP++ library and copy it to the user library directory.

```bash
(cd map-plus-plus/src; make && cp libmap-1.30.00.so $FOAM_USER_LIBBIN)
```

--------------------------------

### Configure MAP++ for multiple bodies

Source: https://hfchen20.gitlab.io/foamMooring/rgb-mooring

Defines a map3R mooring system with multiple bodies and specific attachment points.

```text
map3R
{
    type               map3R;
    body               box1;

    bodies             (box1 box1 box1 box1 box2 box2 box2 box2);

    inputFile          "Mooring/twinFB.map";
    summaryFile        "Mooring/twinFB_summary.map";
    outputFile         "Mooring/mapForces.map";
    waterDepth         0.514;
    writeMooringForces true;
    writeMooringVTK    true;
    vtkStartTime       0;
    outerCorrector     3;
    nNodes             6; //# nodes for all lines
    nodesPerLine       (12 12 12 12 12 12 12 12);

    refAttachmentPt
    (
        (-0.25      0.3725    -0.0729)
        (-0.25     -0.3725    -0.0729)
        ( 0.25      0.3725    -0.0729)
        ( 0.25     -0.3725    -0.0729)

        (-0.25      0.3725    -0.0729)
        (-0.25     -0.3725    -0.0729)
        ( 0.25      0.3725    -0.0729)
        ( 0.25     -0.3725    -0.0729)
    );
}
```

--------------------------------

### Configure MoorDyn for point coupling

Source: https://hfchen20.gitlab.io/foamMooring/rgb-mooring

Defines a moorDynR2 system using point coupling mode for multiple bodies.

```text
moorDynR2_point
{
    type               moorDynR2;
    body               box1;

    couplingMode       "POINT";

    inputFile          "Mooring/lines_v2_pointCoupling.txt";
    bodies             (box1 box1 box1 box1 box2 box2 box2 box2);

    refAttachmentPt
    (
        (-0.25      0.3725    -0.0729)
        (-0.25     -0.3725    -0.0729)
        ( 0.25      0.3725    -0.0729)
        ( 0.25     -0.3725    -0.0729)

        (-0.25      0.3725    -0.0729)
        (-0.25     -0.3725    -0.0729)
        ( 0.25      0.3725    -0.0729)
        ( 0.25     -0.3725    -0.0729)
    );

    writeMooringVTK    true;
    vtkStartTime       0;
    outerCorrector     3;
}
```

--------------------------------

### Configure Moody for multiple bodies

Source: https://hfchen20.gitlab.io/foamMooring/rgb-mooring

Defines a moodyR mooring system with multiple bodies.

```text
moodyR
{
    type               moodyR;
    body               box1;

    bodies            (box1 box1 box1 box1 box2 box2 box2 box2);

    inputFile         "Mooring/Chen2022_twinFB.m";
    refAttachmentPt
    (
        (-0.25      0.3725    -0.0729)
        (-0.25     -0.3725    -0.0729)
        ( 0.25      0.3725    -0.0729)
        ( 0.25     -0.3725    -0.0729)

        (-0.25      0.3725    -0.0729)
        (-0.25     -0.3725    -0.0729)
        ( 0.25      0.3725    -0.0729)
        ( 0.25     -0.3725    -0.0729)
    );
}
```

--------------------------------

### Define sixDoF_History functionObject

Source: https://hfchen20.gitlab.io/foamMooring/utilities

Configuration for recording rigid body motion history at runtime using OpenFOAM functionObjects.

```OpenFOAM
sixDoF_History
{
    type           sixDoFRigidBodyState;
    libs           ("libsixDoFRigidBodyState.so");
    angleFormat    radians; //or degrees
    writeControl   timeStep;
    writeInterval  5;
}
```

--------------------------------

### Extract motion data with Bash script

Source: https://hfchen20.gitlab.io/foamMooring/utilities

A script to parse OpenFOAM log files and extract center of mass, velocity, and orientation data.

```Bash
#!/bin/bash
#
# How-to use:
# Assuming a fixed number of outer iterations per time step!
# $ ./extractMulti.sh log.interFoam

file=$1

# Count the outer corrector
NCOM=$(cat $file | grep "Centre of mass" | wc -l)
NTIME=$(cat $file | grep "^Time = " | wc -l)
NOUTER=$((NCOM / NTIME))
echo "nOuterCorrector = $NCOM / $NTIME = $NOUTER"

# Load the data on separate files
grep -e "^Time = " $file | cut -d " " -f 3 > logs/times
grep "Centre of mass" $file | cut -d ":" -f 2 | tr -d "()" > logs/cM
grep "Linear velocity" $file | cut -d ":" -f 2 | tr -d "()" > logs/lV
grep "Angular velocity" $file  | cut -d ":" -f 2 | tr -d "()" > logs/aV
grep "Orientation" $file  | cut -d ":" -f 2 | tr -d "()" > logs/orientation

# Split the files with data repeated each outer corrector
for ((i = 1 ; i <= $NOUTER ; i++)); do
    cat logs/cM | awk "(NR-$i) % $NOUTER == 0" > logs/cM.$i
    cat logs/lV | awk "(NR-$i) % $NOUTER == 0" > logs/lV.$i
    cat logs/aV | awk "(NR-$i) % $NOUTER == 0" > logs/aV.$i
    cat logs/orientation | awk "(NR-$i) % $NOUTER == 0" > logs/orientation.$i
done

paste logs/times logs/cM.* > logs/t_vs_CoM
paste logs/times logs/lV.* > logs/t_vs_linearV
paste logs/times logs/aV.* > logs/t_vs_angularV
paste logs/times logs/orientation.* > logs/t_vs_orientation

rm logs/times logs/cM* logs/lV* logs/orientation* logs/aV*
```

--------------------------------

### Configure MoorDyn mooring restraints

Source: https://hfchen20.gitlab.io/foamMooring/six-dof-mooring

Configuration blocks for MoorDyn v1 and v2 restraint types.

```OpenFOAM
// MoorDyn v1
moorDynR1
{
    sixDoFRigidBodyMotionRestraint moorDynR1;
}

// MoorDyn v2
moorDynR2_pt
{
    sixDoFRigidBodyMotionRestraint   moorDynR2;
    inputFile          "Mooring/lines_v2_point.txt";
    couplingMode       "POINT";
    refAttachmentPt
    (
        (-0.25     0.3725   -0.16)
        (-0.25    -0.3725   -0.16)
        ( 0.25     0.3725   -0.16)
        ( 0.25    -0.3725   -0.16)
    );
    writeMooringVTK    true;
    vtkPrefix          "mdv2_pt";
    vtkStartTime       0;
    outerCorrector     3;
}

moorDynR2_bd
{
    sixDoFRigidBodyMotionRestraint  moorDynR2;
    inputFile          "Mooring/lines_v2_body.txt";
    couplingMode       "BODY";
    writeMooringVTK    true;
    vtkPrefix          "mdv2_body";
    vtkStartTime       0;
    outerCorrector     3;
}
```

--------------------------------

### Configure MAP++ mooring restraint

Source: https://hfchen20.gitlab.io/foamMooring/six-dof-mooring

Configuration block for the map3R restraint type.

```OpenFOAM
map3R
{
    sixDoFRigidBodyMotionRestraint map3R;
    inputFile                     "Mooring/esflOWC_4lines.map";
    summaryFile                   "Mooring/esflOWC_summary.map";
    waterDepth                    0.5;
    refAttachmentPt
    (
        (-0.1      0.1    -0.077)
        (-0.1     -0.1    -0.077)
        ( 0.1      0.1    -0.077)
        ( 0.1     -0.1    -0.077)
    );

    writeMooringForces     true;
    outputFile             "Mooring/mapForces.dat";
    writeMooringVTK        true;
    //nNodes                 10;
    //nodesPerLine           (10 10 10 10);
}
```

--------------------------------

### Configure waves2Foam mooring restraint

Source: https://hfchen20.gitlab.io/foamMooring/six-dof-mooring

Configuration block for the waves2FoamMooring restraint type.

```OpenFOAM
catenaryLine
{            
    sixDoFRigidBodyMotionRestraint  waves2FoamMooring;
    anchor
    (
        (-0.889    0.3725    -0.6)
        (-0.889   -0.3725    -0.6)
        ( 0.889    0.3725    -0.6)
        ( 0.889   -0.3725    -0.6)  
    );
    refAttachmentPt
    (
        (-0.25     0.3725   -0.16)
        (-0.25    -0.3725   -0.16)
        ( 0.25     0.3725   -0.16)
        ( 0.25    -0.3725   -0.16)  
    );

    identicalProperties true; // default true; if false, specify a list 
                            // for mass, e.g. (0.149 0.149 0.149 0.149)
                            // and line length, e.g. (0.809 0.809 0.809 0.809)
    massPerLength       0.149; // Wet mass/unit length
    lineLength          0.809; // Length of the mooring line

    gravityVector       (0 0 -9.81); // Gravity vector

    writeForce          true; // optional, default false
    writeVTK            true; // optional, default false

    //nNodes              10; // optional, default 10
    //nodesPerLine        (8 6 7 9); // optional, if absent, all lines having the same
                                    // (nNodes);  if present, overwrite nNodes 
    //vtkPrefix           "wfoamMoor"; // optional, default restraint name
    //vtkStartTime        0; // optional, default 0
    //outerCorrector      3; // optional, default 3
}
```

--------------------------------

### Configure Moody mooring restraint

Source: https://hfchen20.gitlab.io/foamMooring/six-dof-mooring

Configuration block for the moodyR restraint type.

```OpenFOAM
moodyR
{
    sixDoFRigidBodyMotionRestraint moodyR;
    inputFile              "Mooring/boxWu_exPoint.m";

    couplingMode           "externalPoint"; // "externalRigidBody"
    nCouplingDof           6;
    refAttachmentPt
    (
        (-0.1      0.1    -0.077)
        (-0.1     -0.1    -0.077)
        ( 0.1      0.1    -0.077)
        ( 0.1     -0.1    -0.077)
    );
    waveKinematics         false;
    twoD                   true;
}
```

--------------------------------

### Define linearSpringGroup mooring restraint

Source: https://hfchen20.gitlab.io/foamMooring/rgb-mooring

Configuration for the linearSpringGroup mooring model.

```OpenFOAM
linearSpringGroup
{
    type                linearSpringGroup;
    body                box;

    anchor
    (
        (-5.8646  5.9 0.0779)
        (-5.8646 -5.9 0.0779)
        ( 5.9354  5.9 0.0779)
        ( 5.9354 -5.9 0.0779)
    );

    refAttachmentPt
    (
        (-0.435  0.435 0)
        (-0.435 -0.435 0)
        ( 0.435  0.435 0)
        ( 0.435 -0.435 0)
    );

    numberOfSprings        4;

    // if true, specify a scalar for stiffness, damping, restLength
    // otherwise, specify a scalarList for each spring (x, x, x, x)
    identicalSprings      true;
    stiffness             28;
    damping               0;
    restLength            7.014391404;

    writeForce            true;
    writeVTK              true;
    compression           false; // false = no spring force when compressed
    frelax                0.8;
}
```
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