Add wave model

[andermi]

We would like to have a physical and visual representation of waves and wave-body interaction. Some implementations can be discussed/tracked here until we choose the appropriate path forward.

1. FFT with OpenGL 3.3

   • Part One
   • Part Two
   • GitHub

2. With Shaders

   • Gerstner Waves Model
   • #541 on gz-rendering

3. gz-marine

4. Then there's this :exploding_head:

[andermi]

For 1. Pros:

• Visually appealing
• Very efficient
• Has programmatic access to deformable mesh vertices which would be useful for obtaining water plane area surrounding the Buoy

Cons:

• Doesn't seem to fit with existing Gazebo GLSL program interface like in 2.

[srmainwaring]

Hi @andermi, I've started to look into how you might combine the wave rendering and hydrostatics model from asv_wave_sim with the proposed free surface wave-body interaction model being developed in buoy_sim. There's still a lot to resolve but I've made a start getting the environment set up with a couple of test examples and worlds in this branch:

-https://github.com/srmainwaring/buoy_sim/tree/srmainwaring/gz-sim7-fs_hydro

There are two example wave models available. One is the randomised wave model based on Tessendorf's work, the other is a monochromatic plane wave with period 8s and amplitude 2m. I have also added a test model based on the WEC-Sim ellipsoid used to demonstrate their non-linear hydrostatics approach. This is for eventual benchmarking against their simulation.

I'll add some notes to the branch describing how to get the system set up.

Figure: mbari_wec_waves.sdf configured to use the monochromatic_waves model.