Initial active tensioning capabilities in MoorDyn

[mattEhall]

This pull request is probably ready to be merged, but it may require glue code changes to work.

Feature or improvement description
This PR adds active tendon tensioning capability to MoorDyn and also includes MoorDyn driver. The added active tensioning capability is based on changing the length and length rate of change of the last segment in a mooring line. Commanded DeltaL and DeltaLdot inputs are expected from the glue code. A new column as been added to the Line Properties table in the input file, to assign each mooring line a control channel number. Currently, the number of control channels (and the size of these input arrays) is determined based on the highest control channel number given in the input file.

Impacted areas of the software
This update adds inputs for active tensioning, which would be provided by ServoDyn through the glue code. However, it may work without these inputs being provided. This update requires a small adjustment to the input file format.

Additional supporting information - input file change required
Below is an update to the MoorDyn input file for the "5MW_OC4Semi_WSt_WavesWN" test case, providing the added CtrlChan column in the Line Properties section:

--------------------- MoorDyn Input File ------------------------------------
Mooring system for OC4-DeepCwind Semi
FALSE    Echo      - echo the input file data (flag)
----------------------- LINE TYPES ------------------------------------------
1        NTypes    - number of LineTypes
Name     Diam      MassDen      EA    BA/-zeta  Can   Cat   Cdn   Cdt
(-)       (m)      (kg/m)       (N)   (N-s/-)   (-)   (-)   (-)   (-)
main     0.0766    113.35     7.536E8  -1.0     0.8   0.25  2.0   0.4
---------------------- CONNECTION PROPERTIES --------------------------------
6       NConnects - number of connections including anchors and fairleads
Node    Type      X        Y        Z       M     V      FX   FY   FZ   CdA   CA
(-)     (-)      (m)      (m)      (m)     (kg)  (m^3)  (kN) (kN) (kN) (m^2)  (-)
1      Fixed   418.8    725.383  -200.0     0      0      0    0    0    0     0
2      Fixed  -837.6      0.0    -200.0     0      0      0    0    0    0     0
3      Fixed   418.8   -725.383  -200.0     0      0      0    0    0    0     0
4      Vessel   20.434   35.393   -14.0     0      0      0    0    0    0     0
5      Vessel  -40.868    0.0     -14.0     0      0      0    0    0    0     0
6      Vessel   20.434  -35.393   -14.0     0      0      0    0    0    0     0
---------------------- LINE PROPERTIES --------------------------------------
3        NLines    - number of line objects
Line    LineType  UnstrLen  NumSegs   NodeAnch  NodeFair  Outputs  CtrlChan
(-)       (-)       (m)       (-)       (-)       (-)       (-)      (-)
1         main     835.35      20        1         4         -        0
2         main     835.35      20        2         5         -        0
3         main     835.35      20        3         6         -        0
---------------------- SOLVER OPTIONS ---------------------------------------
0.001    dtM       - time step to use in mooring integration (s)
3.0e6    kbot      - bottom stiffness (Pa/m)
3.0e5    cbot      - bottom damping (Pa-s/m)
2.0      dtIC      - time interval for analyzing convergence during IC gen (s)
60.0     TmaxIC    - max time for ic gen (s)
4.0      CdScaleIC - factor by which to scale drag coefficients during dynamic relaxation (-)
0.01    threshIC  - threshold for IC convergence (-)
------------------------ OUTPUTS --------------------------------------------
FairTen1
FairTen2
FairTen3
AnchTen1
AnchTen2
AnchTen3
END
------------------------- need this line --------------------------------------

[rafmudaf]

@mattEhall We've changed this to a draft pull request since it depends on @andrew-platt's upcoming TMD changes.

[andrew-platt]

r-test has been updated (branch r-test/MDmods). Everything passes locally.

[andrew-platt]

This is ready to merge. No baselines need updating.