HD: Initialize the low-pass-filtered displacements of potential-flow …

…bodies (ExctnDisp=2) based on the ElastoDyn initial condition

modules/openfast-library/src/FAST_Subs.f90

@@ -1547,6 +1547,40 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
          ErrMsg = ""
       END IF
 
+   ! -------------------------------------------------------------------------
+   ! Initialize low-pass-filtered displacements of HydroDyn potential-flow bodies
+   ! -------------------------------------------------------------------------
+   IF ( p_FAST%CompHydro == Module_HD .AND. HD%p%PotMod) THEN
+      ! Set the initial displacement of ED%PlatformPtMesh here to use MeshMapping
+      ED%y%PlatformPtMesh%TranslationDisp(:,1) = Init%OutData_ED%PlatformPos(1:3)
+      CALL SmllRotTrans( 'initial platform rotation ', &
+                          Init%OutData_ED%PlatformPos(4), &
+                          Init%OutData_ED%PlatformPos(5), &
+                          Init%OutData_ED%PlatformPos(6), &
+                          ED%y%PlatformPtMesh%Orientation(:,:,1), '', ErrStat2, ErrMsg2 )
+      CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+      ED%y%PlatformPtMesh%TranslationDisp(1,1) = ED%y%PlatformPtMesh%TranslationDisp(1,1) + ED%y%PlatformPtMesh%Orientation(3,1,1) * ED%p%PtfmRefzt
+      ED%y%PlatformPtMesh%TranslationDisp(2,1) = ED%y%PlatformPtMesh%TranslationDisp(2,1) + ED%y%PlatformPtMesh%Orientation(3,2,1) * ED%p%PtfmRefzt
+      ED%y%PlatformPtMesh%TranslationDisp(3,1) = ED%y%PlatformPtMesh%TranslationDisp(3,1) + ED%y%PlatformPtMesh%Orientation(3,3,1) * ED%p%PtfmRefzt - ED%p%PtfmRefzt
+      CALL Transfer_PlatformMotion_to_HD( ED%y%PlatformPtMesh, HD%Input(1), MeshMapData, ErrStat2, ErrMsg2 )
+      CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+      IF (ErrStat >= AbortErrLev) THEN
+         CALL Cleanup()
+         RETURN
+      END IF
+      IF (HD%p%NBodyMod .EQ. 1_IntKi) THEN ! One instance of WAMIT with NBody
+         DO i = 1,HD%p%NBody
+            HD%xd(STATE_CURR)%WAMIT(1)%BdyPosFilt(1,i,:) = HD%Input(1)%WAMITMesh%TranslationDisp(1,i)
+            HD%xd(STATE_CURR)%WAMIT(1)%BdyPosFilt(2,i,:) = HD%Input(1)%WAMITMesh%TranslationDisp(2,i)
+         END DO
+      ELSE IF (HD%p%NBodyMod > 1_IntKi) THEN ! NBody instance of WAMIT with one body each
+         DO i = 1,HD%p%NBody
+            HD%xd(STATE_CURR)%WAMIT(i)%BdyPosFilt(1,1,:) = HD%Input(1)%WAMITMesh%TranslationDisp(1,i)
+            HD%xd(STATE_CURR)%WAMIT(i)%BdyPosFilt(2,1,:) = HD%Input(1)%WAMITMesh%TranslationDisp(2,i)
+         END DO
+      END IF
+   END IF
+
    ! -------------------------------------------------------------------------
    ! Initialize for linearization or computing aero maps:
    ! -------------------------------------------------------------------------