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srmainwaring / asv_wave_sim

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
GNU General Public License v3.0
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What kind of wave model is used here ? #156

Closed vbalaji21 closed 9 months ago

vbalaji21 commented 9 months ago

Can you please let me know what kind of wave model is used here ? And also is the wave only visual or can it have physics based interaction with objects too ?

srmainwaring commented 9 months ago

Hi @vbalaji21, the wave models are described in the last two documents of the acknowledgments section in the README. Both visual and physics interactions are implemented.

You can see some additional examples and slides here:

vbalaji21 commented 9 months ago

@srmainwaring thanks a lot for your quick reply and resources to know more about them. I am looking into it now and i am finding it very useful.

srmainwaring commented 9 months ago

I am looking into it now and i am finding it very useful.

Great. The model is Tessendorf waves with some attention paid to ensure the modelled spectral properties are accurate (this is described in some detail in Curtis Mobley's article).

The buoyancy physics is described in Kerner's article series. To get a proper hydrodynamics model requires some additional treatment - discussed further here: https://github.com/srmainwaring/asv_wave_sim/issues/69. This may or may not matter depending on your requirements.

vbalaji21 commented 9 months ago

I am new to this field. I was able to find the Kerner's article - https://www.gamedeveloper.com/programming/water-interaction-model-for-boats-in-video-games and I was confused about Curtis Mobley's article as there are many.

My requirement is to have a light weight object floating on the water, getting siturbed by waves and wind. Then this object is being picked up by a 4 quadrotors carrying a net. So that the net is partially immersed in water and it follows a trajectory (the 4 quadrotors are dragging it) and picks up the floating object disturbed by water forces and wind, then the object leaves the water surface along with the net. I hope I have explained my requirements and use case clearly, if not please let me know.

Hence, my focus is more on physics (interaction forces) and very little on visualisation/ computer graphics. I am thinking to use the water physics and visualisation as a Gazebo plugin with the existing model of quadrotors and a net. I hope this is possible, please let me know.

vbalaji21 commented 9 months ago

@srmainwaring another quick question. The system requirements mentioned here is Ubuntu 22. I have a system of Ubunutu 20.04 and Gazebo 11. Is it possible to use your work in my configuration ?

srmainwaring commented 9 months ago

@srmainwaring another quick question. The system requirements mentioned here is Ubuntu 22. I have a system of Ubunutu 20.04 and Gazebo 11. Is it possible to use your work in my configuration ?

No, they will not work with Gazebo 11. That version is EOL and will be discontinued in 2025. These plugins only work with the new versions of Gazebo (Garden and Harmonic).

srmainwaring commented 9 months ago

Question answered - closing.