wawi 0.0.1__py3-none-any.whl → 0.0.3__py3-none-any.whl

wawi/io.py

@@ -0,0 +1,696 @@
+# -*- coding: utf-8 -*-
+import numpy as np
+import re
+import json
+import csv
+import dill
+from pathlib import Path
+
+from wawi.model import ModalDry, PontoonType, Node, Model, Aero, AeroSection
+
+def import_folder(model_folder, pontoon_stl='pontoon.stl', aero_sections='aero_sections.json',
+                modal='modal.json', pontoon='pontoon.json', eldef='element.json', orientations='orientations.json',
+                drag_elements='drag_elements.json', pontoon_types='pontoon_types.json', 
+                sort_nodes_by_x=True, interpolation_kind='quadratic'):
+    
+    '''
+    Import folder containing files defining a WAWI model.
+
+    Parameters
+    ---------------
+    model_folder : str
+        string defining path of root
+    pontoon_stl : 'pontoon.stl', optional
+        string to relative path of stl-file with pontoon (3d file)
+    aero_sections : 'aero_sections.json', optional
+        string to relative path of json file with aerodynamic sections
+    modal : 'modal.json', optional
+        string to relative path of dry modal definitions
+    pontoon : 'pontoon.json', optional
+        string to relative path of pontoon definitions
+    eldef : 'element.json', optional
+        string to relative path of element definitions (node and element matrices)
+    orientations : 'orientations.json', optional
+        string to relative path of orientations of aero elements
+    drag_elements : 'drag_elements.json', optional
+        string to relative path of file defining drag elements
+    pontoon_types : 'pontoon_types.json', optional
+        string to relative path of pontoon types
+    sort_nodes_by_x : True, optional
+        whether or not to sort the nodes of eldef by their x-coordinate
+    interpolation_kind : {'quadratic', 'linear', ...}
+        interpolation kind used for hydrodynamic transfer function 
+
+    Returns
+    ---------------
+    model : `wawi.model.Model`
+        WAWI model object
+
+    Notes
+    ---------------
+    Add info here describing the structure and contents of all files. 
+    
+    See `importing-folder.ipynb` for a full example.
+    '''
+
+
+    from beef.fe import Part, Section
+    from beef.general import n2d_ix
+    
+    model_folder = Path(model_folder)
+    
+    # Load pontoon data
+    pontoon_data = {}
+    if pontoon is not None:
+        try:
+            with open(model_folder / pontoon, 'r') as f:
+                pontoon_data = json.load(f)
+        except:
+            print('Valid pontoon data not found. No pontoons created.')
+           
+
+    # Load modal data
+    with open(model_folder / modal, 'r') as f:
+        modal = json.load(f)
+    
+    # Load element definitions
+    if eldef is not None:
+        try:
+            with open(model_folder / eldef, 'r') as f:
+                element_data = json.load(f)
+        except:
+            print('Valid element data not found. No eldef created.')
+            element_data = {}
+    else:
+        element_data = {}
+            
+    if orientations is not None:
+        try:
+            with open(model_folder / orientations, 'r') as f:
+                orientations = json.load(f)
+        except:
+            print('Specified orientations file found. No orientation definitions applied.')
+            orientations = {}
+    else:
+        orientations = {}
+
+
+    common_ptype_settings = None
+    if pontoon_types is not None:
+        try:
+            with open(model_folder / pontoon_types, 'r') as f:
+                pontoon_type_settings = json.load(f)
+            
+            if '*' in pontoon_type_settings:
+                common_ptype_settings = pontoon_type_settings.pop('*')
+            
+        except:
+            print('Valid pontoon types file not found. No pontoon_types definitions applied.')
+            pontoon_type_settings = {}
+
+    else:
+        pontoon_type_settings = {}
+    
+    # Extract specific pontoon data
+    pontoon_names = [key for key in pontoon_data]
+    pontoon_nodes = [Node(pontoon_data[key]['node'], *pontoon_data[key]['coordinates']) for key in pontoon_data]
+    pontoon_rotation = [pontoon_data[key]['rotation']*np.pi/180 for key in pontoon_data]
+    pontoon_types = [pontoon_data[key]['pontoon_type'] for key in pontoon_data]
+   
+    # Pontoon types
+    unique_pontoon_types = list(set(pontoon_types))
+    files = [f'{model_folder}/{pt}.npz' for pt in unique_pontoon_types]
+    ptypes = dict()    
+    
+    if len(pontoon_type_settings)==0:    
+        pontoon_type_settings = {key: {} for key in unique_pontoon_types}
+    
+    if common_ptype_settings: #universal setting, overwriting others
+        for name in pontoon_type_settings:
+            for par in common_ptype_settings:
+                pontoon_type_settings[name][par] = common_ptype_settings[par]
+    
+    for file in files:
+        name = Path(file).stem
+        P = np.load(file)
+        
+        if 'Cd' in P:
+            Cd = P['Cd']
+        else:
+            Cd = np.array([0,0,0,0,0,0])
+        
+        if 'A' in P:
+            A = P['A']
+        else:
+            A = np.array([0,0,0,0,0,0])
+            
+        ACd = {'area': A, 'Cd':Cd}
+        ptypes[name] = PontoonType.from_numeric(interpolation_kind=interpolation_kind, A=P['M'], B=P['C'], 
+                         omega=P['omega'], Q=P['Q'], theta=P['theta_Q'], omegaQ=P['omega_Q'], label=name, 
+                         stl_path=f'{model_folder}/{pontoon_stl}', **{**ACd, **pontoon_type_settings[name]})    
+    
+    
+    # Modal dry object 
+    if 'xi0' in modal:
+        xi0 = np.array(modal['xi0'])
+    else:
+        xi0 = 0.0
+        
+    if 'm_min' in modal:
+        m_min = modal['m_min']
+    else:
+        m_min = 0.0
+        
+    if 'phi_x' in modal:
+        phi_x = modal['phi_x']
+    else:
+        phi_x = None
+        
+    modal_dry = ModalDry(modal['phi'], m=np.array(modal['m']), k=np.array(modal['k']), 
+                         local_phi=modal['local'], xi0=xi0, phi_x=phi_x, m_min=m_min)
+    
+    # Element definition
+    if element_data != {}:
+        if 'sections' in element_data:
+            sd = element_data['sections']
+            section_dict = {key: Section(E=sd[key]['E'], poisson=sd[key]['poisson'], 
+                                          A=sd[key]['A'], I_y=sd[key]['Iy'], I_z=sd[key]['Iz'], 
+                                          J=sd[key]['J'], m=sd[key]['m'], name=key) for key in sd}
+    
+            sections = [section_dict[key] for key in element_data['section_assignment']]
+        else:
+            sections = None
+            
+        node_matrix = np.array(element_data['node_matrix'])
+        node_matrix[:,0] = node_matrix[:,0].astype(int)
+        element_matrix = np.array(element_data['element_matrix'])
+        
+        eldef = Part(node_matrix, element_matrix, sections=sections,
+                     assemble=False, forced_ndofs=6)
+            
+        if sort_nodes_by_x:
+            ix = np.argsort([n.coordinates[0] for n in eldef.nodes])
+            node_labels_sorted = eldef.get_node_labels()[ix]
+            eldef.arrange_nodes(node_labels_sorted, arrange_dof_ixs=True)
+              
+            if 'full' in modal_dry.phi_full:  #adjust phi_full
+                modal_dry.phi_full['full'] = modal_dry.phi_full['full'][n2d_ix(ix, n_dofs=6), :]
+
+        # Assign orientation
+        for key in orientations:
+            if 'e2' in orientations[key]:
+                e2 = orientations[key]['e2']
+                e3 = None
+            elif 'e3' in orientations[key]:
+                e3 = orientations[key]['e3']
+                e2 = None               
+            else:
+                raise ValueError('Orientations should contain either e2 or e3')
+
+            elements = orientations[key]['elements']
+            for el_label in elements:
+                el = eldef.get_element(int(el_label))
+
+
+                el.assign_e2(e2)
+                el.assign_e3(e3)
+
+                el.initiate_geometry()
+    else:
+        eldef = None
+
+    # Create model object
+    model = Model.from_nodes_and_types(pontoon_nodes, [ptypes[pt] for pt in pontoon_types], modal_dry=modal_dry, 
+                                       rotation=pontoon_rotation, eldef=eldef, labels=pontoon_names)
+    
+    # Aero mode
+    if aero_sections is not None:
+        # Load aero sections
+        try:
+            with open(model_folder / aero_sections, 'r') as f:
+                data = json.load(f)
+        
+            sections = dict()
+            element_assignments = dict()
+            for key in data:
+                element_assignments[key] = data[key].pop('elements')
+                sections[key] = AeroSection(**data[key])
+            
+            model.aero = Aero(sections=sections, element_assignments=element_assignments)
+        except:
+            print('Specified aero_sections file found. No aerodynamics definitions applied.')
+
+    # Drag elements model
+    if drag_elements is not None:
+        try:
+            with open(model_folder / drag_elements, 'r') as f:
+                data = json.load(f)
+            
+            model.assign_drag_elements(data)
+        except:
+            print('Specified drag_elements file found or invalid. No drag elements defined.')
+            
+    model.connect_eldef()
+    model.assign_dry_modes()
+    
+    return model
+
+
+def save_wwi(model, model_path):
+    '''
+    Save WAWI model object to specified model path.
+    '''
+    with open(model_path, 'wb') as f:
+        dill.dump(model, f, -1)
+    
+
+def convert_to_wwi(model_path, output=None):
+    '''
+    Convert folder with WAWI object definition files to wwi (model) file
+    '''
+    model_path = Path(model_path)
+    if output is None:
+        output = model_path / 'model.wwi'
+    
+    model = load_model(model_path)
+
+    if model_path.is_dir():
+        with open(output, 'wb') as f:
+            dill.dump(model, f, -1)
+
+
+def load_model(model_path, save_if_nonexistent=False, sort_nodes_by_x=True):
+    '''
+    Load wwi-file with WAWI model object or folder with relevant definitions.
+
+    Parameters
+    -----------
+    model_path : str
+        path of wwi-file
+    save_if_nonexistent : False, optional
+        whether or not to save model as wwi if not existing
+    sort_nodes_by_x : True, optional
+        whether or not to sort the nodes of eldef by their x-coordinate
+
+    Returns
+    -----------
+    model : `wawi.model.Model` 
+      WAWI model
+    '''
+
+    model_path = Path(model_path)
+
+    if model_path.is_dir() and not (model_path/'model.wwi').is_file():
+        model = import_folder(model_path, sort_nodes_by_x=sort_nodes_by_x)
+        if save_if_nonexistent:
+            convert_to_wwi(model_path)   
+    else:
+        with open(model_path, 'rb') as f:
+            model = dill.load(f)
+    
+    return model
+            
+
+def import_wadam_hydro_transfer(wadam_file):
+    '''
+    Import WADAM output file.
+
+    Parameters
+    -----------
+    wadam_file : str
+        path to file to import
+    
+    Returns
+    ----------
+    omega : float
+        numpy array describing numerical frequency axis
+    theta : float
+        numpy array describing numerical directional axis
+    fhyd : float
+        complex numpy 3d-array describing the transfer functions relating
+        regular waves with unit height to the 6 relevant forces and moments
+        6-by-len(theta)-by-len(omega)
+    '''
+
+    string = ('.+W A V E  P E R I O D.+=\s+(?P<period>.+):.+\n.+'
+              'H E A D I N G   A N G L E.+=\s+(?P<theta>.+):(?:.*\n){5,10}'
+              
+              '.+EXCITING FORCES AND MOMENTS FROM THE HASKIN RELATIONS(?:.*\n){4,6}\s+'
+              
+              '-F1-\s+(?P<F1_real>[-?.E\d+]+)\s+(?P<F1_imag>[-?.E\d+]+)\s.+\n\s+'
+              '-F2-\s+(?P<F2_real>[-?.E\d+]+)\s+(?P<F2_imag>[-?.E\d+]+)\s.+\n\s+'
+              '-F3-\s+(?P<F3_real>[-?.E\d+]+)\s+(?P<F3_imag>[-?.E\d+]+)\s.+\n\s+'
+              '-F4-\s+(?P<F4_real>[-?.E\d+]+)\s+(?P<F4_imag>[-?.E\d+]+)\s.+\n\s+'
+              '-F5-\s+(?P<F5_real>[-?.E\d+]+)\s+(?P<F5_imag>[-?.E\d+]+)\s.+\n\s+'
+              '-F6-\s+(?P<F6_real>[-?.E\d+]+)\s+(?P<F6_imag>[-?.E\d+]+)\s.+\n')
+    regex = re.compile(string) 
+    
+    nondim_string = ('\s+NON-DIMENSIONALIZING FACTORS:\n(?:.*\n)+'
+                     '\s+RO\s+=\s+(?P<rho>[-?.E\d+]+)\n'
+                     '\s+G\s+=\s+(?P<g>[-?.E\d+]+)\n'
+                     '\s+VOL\s+=\s+(?P<vol>[-?.E\d+]+)\n'
+                     '\s+L\s+=\s+(?P<l>[-?.E\d+]+)\n'
+                     '\s+WA\s+=\s+(?P<wa>[-?.E\d+]+)')
+    
+    regex_nondim = re.compile(nondim_string) 
+    
+    with open(wadam_file, encoding='utf-8') as file:
+        data = file.read()
+    
+    periods = []
+    thetas = []
+    Q = []
+    
+    for match in regex.finditer(data):
+        data_dict = dict(zip(match.groupdict().keys(), [float(val) for val in match.groupdict().values()]))
+        F1 = data_dict['F1_real'] + data_dict['F1_imag']*1j
+        F2 = data_dict['F2_real'] + data_dict['F2_imag']*1j
+        F3 = data_dict['F3_real'] + data_dict['F3_imag']*1j
+        F4 = data_dict['F4_real'] + data_dict['F4_imag']*1j
+        F5 = data_dict['F5_real'] + data_dict['F5_imag']*1j
+        F6 = data_dict['F6_real'] + data_dict['F6_imag']*1j
+        Q.append(np.array([F1,F2,F3,F4,F5,F6]))
+        
+        thetas.append(data_dict['theta'])
+        periods.append(data_dict['period'])
+    
+    theta = np.unique(np.array(thetas))*np.pi/180.0
+    period = np.unique(np.array(periods))
+    omega = np.flip(2*np.pi/period, axis=0)
+    Q = np.vstack(Q).T
+    fhyd = np.zeros([6, len(theta), len(omega)]).astype('complex')
+    for n in range(len(theta)):
+        for k in range(len(omega)):
+            fhyd[:,n,k] = Q[:, k*len(theta)+n] 
+    
+    # Re-dimensionalize and flip
+    nondim_parameters = regex_nondim.search(data).groupdict()
+    nd = dict(zip(nondim_parameters.keys(), [float(val) for val in nondim_parameters.values()]))
+    
+    rho, g, vol, wa, l = nd['rho'], nd['g'], nd['vol'], nd['wa'], nd['l']
+    dim = 0*fhyd
+    dim[0::6,:,:] = rho*vol*g*wa/l
+    dim[1::6,:,:] = rho*vol*g*wa/l
+    dim[2::6,:,:] = rho*vol*g*wa/l
+    
+    dim[3::6,:,:] = rho*vol*g*wa
+    dim[4::6,:,:] = rho*vol*g*wa
+    dim[5::6,:,:] = rho*vol*g*wa
+
+    fhyd = np.flip(fhyd, axis=2) * dim
+
+    return omega, theta, fhyd
+
+
+def import_wadam_mat(wadam_file):
+    '''
+    Import system matrices given by input WADAM results (frequency dependent and constant).
+
+    Parameters
+    -------------
+    wadam_file : str
+        path to WADAM file to open
+    
+    Returns
+    -------------
+    mass : float
+        6-by-6 added mass matrix of body
+    damping : float
+        6-by-6 radiation damping matrix of body
+    stiffness : float
+        6-by-6 restoring stiffness matrix of body
+    static_mass : float
+        6-by-6 static (constant) mass matrix of body
+        this represents inertia of pontoon object itself
+    omega : float
+        numpy array describing numerical frequency axis (corresponding to mass and damping
+        output)
+    '''
+
+    static_mass_target = 'MASS INERTIA COEFFICIENT MATRIX'
+    stiffness_target = 'HYDROSTATIC RESTORING COEFFICIENT MATRIX'
+    mass_target = 'ADDED MASS MATRIX                                   '
+    damping_target = 'DAMPING MATRIX                                      '
+    period_target = 'WAVE PERIOD  =   '
+    non_dim_target = ' THE OUTPUT IS NON-DIMENSIONALIZED USING -'
+
+    f = open(wadam_file)
+    active_search = False
+    current_elements = []
+    current_range = [0]
+
+    stiffness = np.empty([0,6,6])
+    static_mass = np.empty([0,6,6])
+    mass = np.empty([0,6,6])
+    damping = np.empty([0,6,6])
+    period = np.empty([0,1,1])
+    non_dim = np.empty([0])
+
+    temp_data=[]
+    data_storage = {'static_mass': static_mass, 'stiffness': stiffness, 'period': period, 'mass':mass,'damping':damping,'non_dim':non_dim}
+    append_axis = {'static_mass': 0, 'stiffness': 0, 'period': 0, 'mass':0,'damping':0,'non_dim':None}
+
+    for lineno, line in enumerate(f):
+        static_mass_switch = line.find(static_mass_target)!=-1
+        stiffness_switch = line.find(stiffness_target)!=-1
+        period_switch = line.find(period_target)!=-1
+        mass_switch = line.find(mass_target)!=-1
+        damping_switch = line.find(damping_target)!=-1
+        non_dim_switch = line.find(non_dim_target)!=-1
+
+        if static_mass_switch == True:
+            active_search=True
+            current_range = [el+lineno-1 for el in range(5,11)]
+            current_elements = range(1,6+1)
+            current_data_string='static_mass'
+            current_data = data_storage[current_data_string]
+        elif stiffness_switch:
+            active_search=True
+            current_range = [el+lineno-1 for el in range(5,11)]
+            current_elements = range(1,6+1)
+            current_data_string='stiffness'
+            current_data = data_storage[current_data_string]
+        elif period_switch:
+             active_search=True
+             current_range = [lineno]
+             current_elements = [3]
+             current_data_string='period'
+             current_data = data_storage[current_data_string]
+        elif mass_switch:
+            active_search=True
+            current_range = [el+lineno-1 for el in range(5,11)]
+            current_elements = range(1,6+1)
+            current_data_string='mass'
+            current_data = data_storage[current_data_string]
+        elif damping_switch:
+            active_search=True
+            current_range = [el+lineno-1 for el in range(5,11)]
+            current_elements = range(1,6+1)
+            current_data_string='damping'
+            current_data = data_storage[current_data_string]
+        elif non_dim_switch:
+            active_search=True
+            current_range = [el+lineno-1 for el in range(9,14)]
+            current_elements = [2]
+            current_data_string='non_dim'
+            current_data = data_storage[current_data_string]
+
+        if (active_search==True) and (lineno in current_range):
+            data_line = [float(i) for i in [line.split()[el] for el in current_elements]]
+            temp_data.append(data_line)
+        elif (active_search==True) and lineno>=max(current_range):
+             current_data=np.append(current_data,[temp_data],axis=append_axis[current_data_string])
+             temp_data=[]
+             current_range = [0]
+             current_elements = []
+             active_search=False
+             data_storage[current_data_string] = current_data
+
+    # Non-dimensionalizing factors
+    non_dim = data_storage['non_dim']
+    ro = non_dim[0]
+    g = non_dim[1]
+    vol = non_dim[2]
+    l = non_dim[3]
+
+    non_dim_defs = {'static_mass': np.array([[ro*vol, ro*vol*l],
+                                             [ro*vol*l, ro*vol*l*l]]), 
+                    'mass': np.array([[ro*vol, ro*vol*l],
+                                      [ro*vol*l, ro*vol*l*l]]), 
+                    'damping': np.array([[ro*vol*np.sqrt(g/l), ro*vol*np.sqrt(g*l)],
+                                         [ro*vol*np.sqrt(g*l), ro*vol*l*np.sqrt(g*l)]]), 
+                    'stiffness':np.array([[ro*vol*g/l, ro*vol*g],
+                                          [ro*vol*g, ro*vol*g*l]])}
+
+    # Re-dimensionalize data
+    for current_data_string in non_dim_defs.keys():
+        dim_matrix = np.repeat(np.repeat(non_dim_defs[current_data_string],3,axis=0),3,axis=1)
+        data_storage[current_data_string] = np.multiply(data_storage[current_data_string], dim_matrix)
+
+    static_mass = data_storage['static_mass'][0]
+    stiffness = data_storage['stiffness'][0]
+    mass = np.moveaxis(data_storage['mass'],0,2)
+    damping = np.moveaxis(data_storage['damping'],0,2)
+    omega = 2.0*np.pi/data_storage['period'].flatten()
+    sortix = np.argsort(omega)
+    omega = omega[sortix]
+    
+    mass = mass[:,:, sortix]
+    damping = damping[:,:, sortix]
+    stiffness = (stiffness + stiffness.T)/2
+
+    return  mass, damping, stiffness, static_mass, omega
+
+
+
+def import_wamit_mat(wamit_path, suffix=['hst', 'mmx', '1'], rho=1020, L=1.0, g=9.80665):
+    '''
+    Import system matrices from WAMIT results (frequency dependent and constant).
+
+    Parameters
+    -------------
+    wamit_path : str
+        path to WAMIT file to open
+    suffix : ['hst', 'mmx', '1']
+        all suffixes used - all default values required for full output
+    rho : 1020, optional
+        water mass density used to redimensionalize results
+    L : 1.0, optional
+        redimensionaling length - 1.0 is fine for most use cases
+    g : 9.80665, optional
+        gravitational constant for redimensionalization of data
+    
+    Returns
+    -------------
+    A : float
+        6-by-6 added mass matrix of body
+    B : float
+        6-by-6 radiation damping matrix of body
+    K0 : float
+        6-by-6 restoring stiffness matrix of body
+    M0 : float
+        6-by-6 static (constant) mass matrix of body
+        this represents inertia of pontoon object itself
+    omega : float
+        numpy array describing numerical frequency axis (corresponding to mass and damping
+        output)
+    '''
+    if suffix.count('hst')>=1:
+        # Hydrostatic stiffness
+        k_list = np.loadtxt(wamit_path+'.hst')
+        K0 = np.reshape(k_list[:,2], [6,6])   #assumes the order of elements in k_list
+        dimK = 0*K0
+        dimK[2, 2] = rho*g*L**2
+        dimK[2, 3] = dimK[3, 2] = rho*g*L**3
+        dimK[2, 4] = dimK[4, 2] = rho*g*L**3
+        dimK[3::, :]  = rho*g*L**4
+        dimK[:, 3::]  = rho*g*L**4
+        
+        K0 = K0*dimK
+        
+    else:
+        K0 = 0
+
+    if suffix.count('mmx')>=1:
+        # Inertia matrix
+        m_list = np.loadtxt(wamit_path+'.mmx', skiprows=12)
+        M0 = np.reshape(m_list[:,2], [6,6]) 
+    else: 
+        M0 = 0
+
+    if suffix.count('1')>=1:
+        # Added mass and added damping
+        mc_list = np.loadtxt(wamit_path+'.1')
+        period = mc_list[0::10,0]
+        Aper = np.zeros([6,6,len(period)])
+        Bper = np.zeros([6,6,len(period)])
+
+        for k in range(0,int(mc_list.shape[0]/10)):
+            mc_this = mc_list[k*10:k*10+10,:]
+            dof1, dof2 = mc_this[:,1].astype('int')-1, mc_this[:, 2].astype('int')-1
+
+            for ix, i in enumerate(dof1):
+                j = dof2[ix]
+                Aper[i, j, k] = mc_this[ix, 3] 
+                Bper[i, j, k] = mc_this[ix, 4] 
+
+        # Re-dimensionalize and flip
+        omega = np.flip(2*np.pi/period, axis=0)
+
+        dimA = 0*Aper
+        dimA[0:3, 0:3, :] = rho*L**3
+        dimA[0:3, 3:-1, :] = rho*L**4
+        dimA[3:-1, 0:3, :] = rho*L**4
+        dimA[3:-1, 3:-1, :] = rho*L**5
+
+        dimB = 0*Bper
+        dimB[0:3, 0:3, :] = rho*L**3*omega
+        dimB[0:3, 3:-1, :] = rho*L**4*omega
+        dimB[3:-1, 0:3, :] = rho*L**4*omega
+        dimB[3:-1, 3:-1, :] = rho*L**5*omega
+        
+        A = np.flip(Aper, axis=2)*dimA
+        B = np.flip(Bper, axis=2)*dimB
+    else:
+        A = 0
+        B = 0
+
+    return A, B, K0, M0, omega
+
+
+def import_wamit_force(wamit_path, A=1.0, rho=1020, L=1.0, g=9.80665):
+    '''
+    Import hydrodynamic transfer function from WAMIT '.2'-file.
+
+    Parameters
+    -----------
+    wamit_path :
+    A : 1.0, optional
+        area used to redimensionalize results (1.0 is fine for most use cases)
+    rho : 1020, optional
+        water mass density used to redimensionalize results
+    L : 1.0, optional
+        redimensionaling length  (1.0 is fine for most use cases)
+    g : 9.80665, optional
+        gravitational constant for redimensionalization of data
+
+    Returns
+    ----------
+    omega : float
+        numpy array describing numerical frequency axis
+    theta : float
+        numpy array describing numerical directional axis
+    fhyd : float
+        complex numpy 3d-array describing the transfer functions relating
+        regular waves with unit height to the 6 relevant forces and moments
+        6-by-len(theta)-by-len(omega)
+    '''
+
+    # Transfer function
+    q_list = np.loadtxt(wamit_path+'.2')    
+    period = np.unique(q_list[:,0])
+    n_omega = len(period)
+    n_theta = int(len(q_list[:,0])/len(period)/6)
+    theta = q_list[0:6*n_theta:6,1]
+    f_hyd_per = np.zeros([6, n_theta, n_omega]).astype('complex')
+
+    for k in range(0, n_omega):
+        q_this = q_list[k*n_theta*6:k*n_theta*6+n_theta*6]
+        for dof in range(0,6):
+            f_hyd_per[dof, :, k] = q_this[dof::6, 5] + q_this[dof::6, 6]*1j
+            
+    omega = np.flip(2*np.pi/period, axis=0)
+    
+    # Re-dimensionalize and flip
+    dim = 0*f_hyd_per
+    dim[0::6,:,:] = rho*g*A*L**2
+    dim[1::6,:,:] = rho*g*A*L**2
+    dim[2::6,:,:] = rho*g*A*L**2
+    dim[3::6,:,:] = rho*g*A*L**3
+    dim[4::6,:,:] = rho*g*A*L**3
+    dim[5::6,:,:] = rho*g*A*L**3
+
+    f_hyd = np.flip(f_hyd_per, axis=2) * dim
+
+    return omega, theta, f_hyd
+