MUM-T 해양 유무인복합 수중 글라이더(Underwater Glider) 부력 엔진 내부파(Internal Wave) 섭동 적응제어 서보 아키텍처 (.NET 9 C# SIMD)

using System;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Runtime.Intrinsics;
using System.Runtime.Intrinsics.X86;

namespace ZeliDesk.Defense.MaritimeRobotics
{
    /// <summary>
    /// 수중 글라이더(Underwater Glider) 내부파 외란 보정 적응 부력 서보
    /// GC 제로 할당 ref struct 및 AVX-256 SIMD 가속화
    /// </summary>
    public ref struct GliderBuoyancyAdaptiveServo
    {
        private readonly ReadOnlySpan<float> _depthPressures;    // 수심 압력 (dbar)
        private readonly ReadOnlySpan<float> _waterDensities;    // 실측 해수 밀도 rho (kg/m^3)
        private readonly ReadOnlySpan<float> _verticalVelocities;// 수직 강하/상승 속도 w (m/s)
        private readonly Span<float> _netBuoyancyForces;         // 연산된 순 부력 F_net (N)
        private readonly Span<float> _oilVolumeCommands;         // 오일 블래더 펌프 체적 명령 (cc)

        private readonly float _gliderMass;     // 글라이더 총 질량 m (kg)
        private readonly float _nominalVolume;  // 기준 외형 체적 V0 (m^3)
        private readonly float _gravity;        // 중력가속도 g (9.80665 m/s^2)
        private readonly float _targetSinkRate; // 목표 수직 속도 w_target (m/s)

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public GliderBuoyancyAdaptiveServo(
            ReadOnlySpan<float> depthPressures,
            ReadOnlySpan<float> waterDensities,
            ReadOnlySpan<float> verticalVelocities,
            Span<float> netBuoyancyForces,
            Span<float> oilVolumeCommands,
            float gliderMass = 58.5f,
            float nominalVolume = 0.057f,
            float targetSinkRate = -0.25f)
        {
            _depthPressures = depthPressures;
            _waterDensities = waterDensities;
            _verticalVelocities = verticalVelocities;
            _netBuoyancyForces = netBuoyancyForces;
            _oilVolumeCommands = oilVolumeCommands;
            _gliderMass = gliderMass;
            _nominalVolume = nominalVolume;
            _gravity = 9.80665f;
            _targetSinkRate = targetSinkRate;
        }

        /// <summary>
        /// 8개 심도 계층의 밀도 및 수직 유속 섭동을 SIMD 병렬 분석하여 부력 펌프 제어
        /// </summary>
        [MethodImpl(MethodImplOptions.AggressiveOptimization)]
        public void ExecuteBuoyancyLoop()
        {
            int length = _waterDensities.Length;
            int simdLength = length - (length % 8);

            Vector256<float> vMass = Vector256.Create(_gliderMass);
            Vector256<float> vVol0 = Vector256.Create(_nominalVolume);
            Vector256<float> vG = Vector256.Create(_gravity);
            Vector256<float> vWtarget = Vector256.Create(_targetSinkRate);
            Vector256<float> vGainW = Vector256.Create(85.0f); // cc/(m/s)

            int i = 0;
            if (Avx2.IsSupported)
            {
                for (; i < simdLength; i += 8)
                {
                    Vector256<float> vRho = Vector256.Create(MemoryMarshal.Cast<float, Vector256<float>>(_waterDensities.Slice(i, 8))[0]);
                    Vector256<float> vW = Vector256.Create(MemoryMarshal.Cast<float, Vector256<float>>(_verticalVelocities.Slice(i, 8))[0]);

                    // 부력 B = rho * V0 * g
                    Vector256<float> vBuoyancy = Avx.Multiply(Avx.Multiply(vRho, vVol0), vG);
                    // 중력 W = m * g
                    Vector256<float> vWeight = Avx.Multiply(vMass, vG);

                    // 순 부력 F_net = B - W
                    Vector256<float> vFnet = Avx.Subtract(vBuoyancy, vWeight);

                    // 수직 유속 오차: ErrorW = w - w_target
                    Vector256<float> vErrW = Avx.Subtract(vW, vWtarget);

                    // 오일 체적 명령 (cc) = -F_net * 0.1 - GainW * ErrorW
                    Vector256<float> vCmd = Avx.Subtract(
                        Avx.Multiply(vFnet, Vector256.Create(-0.1f)),
                        Avx.Multiply(vErrW, vGainW)
                    );

                    vFnet.CopyTo(_netBuoyancyForces.Slice(i, 8));
                    vCmd.CopyTo(_oilVolumeCommands.Slice(i, 8));
                }
            }

            for (; i < length; i++)
            {
                float b = _waterDensities[i] * _nominalVolume * _gravity;
                float w = _gliderMass * _gravity;
                float fnet = b - w;
                float errW = _verticalVelocities[i] - _targetSinkRate;
                _netBuoyancyForces[i] = fnet;
                _oilVolumeCommands[i] = (-fnet * 0.1f) - (errW * 85.0f);
            }
        }
    }
}