Add MoorDyn module regression tests (#85)

* MD: rearrange test cases to more standard organization

* MD: update md_5MW_OC4Semi module test

* MD: add regression tests for driver

NOTE: the md_Node_Check and md_Single_Line cases are excessively slow in double precision, so they will not be run during normal integration testing.

* MD c-bindings: add python regression test

modules/moordyn/README.rst

@@ -1,14 +1,14 @@
 MoorDyn Regression Tests
 ==================================================================================================================
-5MW_OC4 functions as a "normal" r-test with baseline MoorDyn output file from the 5MW_OC4Semi_WSt_WavesWN openFAST
+md_5MW_OC4Semi functions as a "normal" r-test with baseline MoorDyn output file from the 5MW_OC4Semi_WSt_WavesWN openFAST
 case.
 
 Single_Line_Quasi_Static_Test contains MoorDyn input files for a simple single line chain system. The outputs
 from this case can be compared to MoorPy quasi-static tensions/node positions. 
 
-Node_Check_(N=20) and Node_Check_(N=40) set up a single line chain system with 20 nodes vs 40 nodes. The results
+md_Node_Check_(N=20) and md_Node_Check_(N=40) set up a single line chain system with 20 nodes vs 40 nodes. The results
 from these cases can be compared to check for consistency.
 
-Some code to set up/compare these additional MoorDyn tests is included in MoordynQSchecks.py
+Some code to set up/compare these additional MoorDyn tests is included in MoordynQSchecks.py (users will need to update paths)
 
-The additional MoorDyn test cases are a work in progress - more test cases and code to analyze them will be added.
+The additional MoorDyn test cases are a work in progress - more test cases and code to analyze them will be added.

modules/moordyn/5MW_OC4/md_driver.inp → modules/moordyn/md_5MW_OC4Semi/md_driver.inp

@@ -15,6 +15,6 @@ FALSE               Echo             - Echo the input file data (flag)
 0                   NumTurbines      - Number of wind turbines (-) [>=1 to use FAST.Farm mode. 0 to use OpenFAST mode.]
 ---------------------- Initial Positions --------------------------------------
 ref_X    ref_Y    surge_init   sway_init  heave_init  roll_init  pitch_init   yaw_init
- (m)      (m)        (m)          (m)        (m)       (rad)       (rad)        (rad)         [followed by MAX(1,NumTurbines) rows of data]
-  0        0         5            0          0          0           0.0331612          0
+ (m)      (m)        (m)          (m)        (m)       (deg)       (deg)        (deg)         [followed by MAX(1,NumTurbines) rows of data]
+  0        0         5            0          0          0           1.9          0
 END of driver input file

modules/moordyn/5MW_OC4/moordyn.dat → modules/moordyn/md_5MW_OC4Semi/moordyn.dat

@@ -32,6 +32,9 @@ ID      LineType   AttachA   AttachB  UnstrLen  NumSegs   Outputs
 FairTen1
 FairTen2
 FairTen3
+AnchTen1
+AnchTen2
+AnchTen3
 L1N10T
 L2N10T
 L3N10T
@@ -53,5 +56,14 @@ L2N19Pz
 L3N19Px
 L3N19Py
 L3N19Pz
+Con4Px
+Con4Py
+Con4Pz
+Con5Px
+Con5Py
+Con5Pz
+Con6Px
+Con6Py
+Con6Pz
 END
 ------------------------- need this line --------------------------------------

modules/moordyn/Node_Check_(N=20)/md_driver.inp → modules/moordyn/md_Node_Check_N20/md_driver.inp

@@ -7,14 +7,14 @@ FALSE    Echo      - echo the input file data (flag)
 600.0		WtrDpth      - water depth
 ---------------- MOORDYN ------------------
 test.dat	MDInputFile      - Primary MoorDyn input file name (quoted string)
-"driver1"	OutRootName      -  The name which prefixes all HydroDyn generated files (quoted string)
-60.0225		TMax       - Number of time steps in the simulations (-)
+"driver"	OutRootName      -  The name which prefixes all HydroDyn generated files (quoted string)
+60.0000		TMax       - Number of time steps in the simulations (-)
 0.0125		dtC      - TimeInterval for the simulation (sec)
 0 		InputsMode       - MoorDyn coupled object inputs (0: all inputs are zero for every timestep, 1: time-series inputs) (switch)
 ""		InputsFile       - Filename for the MoorDyn inputs file for when InputsMod = 1 (quoted string)
 0 		NumTurbines      - Number of wind turbines (-) [>=1 to use FAST.Farm mode. 0 to use OpenFAST mode.]
 ---------------- Initial Positions ------------------
 ref_X    ref_Y    surge_init   sway_init  heave_init  roll_init  pitch_init   yaw_init
-(m)      (m)        (m)          (m)        (m)        (m)         (m)        (m)         [followed by NumTurbines rows of data]
+(m)      (m)        (m)          (m)        (m)        (deg)      (deg)      (deg)         [followed by NumTurbines rows of data]
 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 
 END of driver input file

modules/moordyn/Node_Check_(N=20)/test.dat → modules/moordyn/md_Node_Check_N20/test.dat

@@ -16,7 +16,7 @@ Line      LineType  AttachA    AttachB  UnstrLen  NumSegs   Outputs
 1          chain       2         1       1800.00    20         -
 ---------------------- OPTIONS ----------------------------------------
 0.00005  dtM          - time step to use in mooring integration (s)
-600.0    WtrDpth        - water depth (m) <<< must be specified for farm-level mooring
+600.0    WtrDpth      - water depth (m) <<< must be specified for farm-level mooring
 3.0e+06  kbot         - bottom stiffness (Pa/m)
 3.0e+05  cbot         - bottom damping (Pa-s/m)
 1.0      dtIC         - time interval for analyzing convergence during IC gen (s)