rtx-cfd: overset A-P2 — the patch overlaps the background (OversetPisoSolver), gated S1–S5

Background = the embedded solver with a mask from the overlap classification
(embedded/{mod,projection}.rs: module split, projection's solve/apply halves,
set_overlap, fringe p' Dirichlet by elimination into extra_diag/rhs, anchor
dropped, set_inner_stop_factor, phase API begin_step/solve_correction/
apply_correction/end_step; advance rebuilt on the phases — every suite digit-
identical, FSI2 default line-for-line). Patch = the curvilinear solver with an
acceptor ring (set_side_velocity; set_acceptor_ring/stamp_acceptors/
set_acceptor_correction; acceptor Dirichlet by elimination into
PressureSystem.links so the BiCGSTAB stop stays in flux units — identity rows
measured unconverged at 2431 iterations; same phase API). overset/overlap.rs:
OverlapMap — hole/fringe/active from the patch's own indices (hole = body or
k <= nn-1-overlap_rows, DEFAULT_OVERLAP_ROWS = 4 from the 2.9 h depth budget),
dual-quad inverse-bilinear donors patch→fringe, lattice donors →acceptors,
both invariants asserted, mass-defect measures. overset/mod.rs:
OversetPisoSolver — advance (exchange rebuilt BEFORE the predictors from the
previous corrected field), alternating Schwarz on the acceptor p' vector with
Anderson(3) (plain Schwarz measured 0.82/round: floating patch, Neumann wall)
and the previous step's vector as warm start (1 round/corrector at steady
state), stop relative to the STEP's p' scale (the MG absolute stop is
1e-9/dt² in pressure — the whole second correction), set_patch_mesh,
snapshot/restore carrying the warm-start vector.

Gates: overlap linear-exact 1e-13, quadratic orders 1.96/1.99 (acceptors),
1.40/1.91 (fringe); half-couplings: patch with exact acceptors Stokes 2.07/1.98
+ 2.08/1.98, upwind 0.84/0.84, background with exact fringe 7.86e-3/2.90e-3/
1.09e-3 (1.44/1.41); two-mesh MMS n=32/64: background 8.717e-3/4.207e-3 (1.03x/
0.97x the embedded circle), patch 1.322e-2/6.904e-3 (1.5-1.6x), orders 1.05/
0.94, patch div <= 5e-13, overlap mass defect 3.6e-3 -> 8.2e-4 of the overlap
flux (under the registered 1e-3 from n=64; disclosed at 32); motion: stationary
patch through set_patch_mesh bit-identical, snapshot/restore with a pending mesh
bit-identical, translating phantom circle 1.22x/1.19x the static level over
4.5 cells. Inherited, disclosed: poisson_equivalence's no-body multigrid pin
fails by 3.9e-9 at d46fb0b (M1's commit; verified in a clean worktree).

Co-Authored-By: Claude Fable 5.1 <[email protected]>
Claude-Session: https://claude.ai/code/session_01X2GmJXeQ2njUecEKiJZ1G2

crates/specialized/rtx-cfd/src/solvers/incompressible/overset/overlap.rs

@@ -0,0 +1,701 @@
+//! The overlap between the fixed background grid and the curvilinear patch
+//! (overset A-P2, `docs/overset_metal_campaign.md` §2.1, §5.9).
+//!
+//! Background cells are classified from the patch's own indices — no
+//! signed-distance field: a cell whose centre lies inside the body (the
+//! patch's inner ring, when periodic) or inside a patch cell with
+//! `k ≤ nn − 1 − overlap_rows` is a HOLE; a non-hole cell 4-adjacent to a
+//! hole is FRINGE (no continuity equation; `p` and `p'` Dirichlet from the
+//! patch; its faces that are not shared with an active cell prescribed
+//! from the patch); everything else is ACTIVE. The patch's outer row of
+//! cells (`k = nn − 1`) are ACCEPTORS: `u, v, p` bilinear from the
+//! background's staggered lattices, no momentum or continuity equation.
+//!
+//! Patch → background interpolation is bilinear in the DUAL quad — the four
+//! cell centres `(k,i) (k,i+1) (k+1,i+1) (k+1,i)` — by inverse bilinear
+//! mapping (Newton); background → patch is bilinear on each staggered
+//! lattice. Both second order (`tests/overset_interp.rs`).
+//!
+//! Two invariants are asserted at build, so a thin patch fails loudly
+//! instead of coupling acceptors to acceptors: every fringe donor quad
+//! uses patch cells `k ≤ nn − 2` (never an acceptor), and every acceptor
+//! donor lattice node is an active cell / a fluid face. The depth budget
+//! behind `overlap_rows`: from the patch's outer boundary inward, the
+//! acceptor centre sits ½ outer cell in, its bilinear stencil reaches one
+//! background cell further, the fringe ring is one background cell thick,
+//! and the outer curve's wobble adds its amplitude — about 2.9 h with the
+//! outer spacing ≈ h. Three overlap rows (≈ 2.5 h with a 3× stretch) were
+//! measured to fail exactly there (acceptor 32's p donor landed on a fringe
+//! cell); four rows (≈ 3.2 h) is the default.
+
+use crate::error::{CfdError, CfdResult};
+use crate::mesh::PatchMesh;
+use crate::solvers::incompressible::embedded_body::{EmbeddedMask, FaceKind};
+use crate::solvers::incompressible::flow_field::FlowField;
+
+/// Background cell class.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum CellClass {
+    /// Carries continuity; its pressure is an unknown.
+    Active,
+    /// Ring around the hole: Dirichlet `p`, prescribed outer faces.
+    Fringe,
+    /// Under the patch (or in the body): never read.
+    Hole,
+}
+
+/// Bilinear weights on four patch cells (a dual quad).
+#[derive(Debug, Clone, Copy)]
+pub struct DualDonor {
+    /// The four cells, in the dual quad's order.
+    pub cells: [usize; 4],
+    /// Their weights (sum to one).
+    pub w: [f64; 4],
+}
+
+/// Bilinear weights on four lattice nodes of a staggered field.
+#[derive(Debug, Clone, Copy)]
+pub struct LatticeDonor {
+    /// Row and column of the lower-left node.
+    pub j0: usize,
+    /// See `j0`.
+    pub i0: usize,
+    /// Weights for `(j0,i0) (j0,i0+1) (j0+1,i0) (j0+1,i0+1)`.
+    pub w: [f64; 4],
+}
+
+impl LatticeDonor {
+    #[inline]
+    fn value(&self, m: &nalgebra::DMatrix<f64>) -> f64 {
+        let (j, i) = (self.j0, self.i0);
+        self.w[0] * m[(j, i)]
+            + self.w[1] * m[(j, i + 1)]
+            + self.w[2] * m[(j + 1, i)]
+            + self.w[3] * m[(j + 1, i + 1)]
+    }
+}
+
+/// A background fringe cell or face with its patch donor.
+#[derive(Debug, Clone, Copy)]
+pub struct FringeEntry {
+    /// Row.
+    pub j: usize,
+    /// Column.
+    pub i: usize,
+    /// Donor.
+    pub donor: DualDonor,
+}
+
+/// A patch acceptor cell with its background donors.
+#[derive(Debug, Clone, Copy)]
+pub struct Acceptor {
+    /// Patch cell index.
+    pub cell: usize,
+    /// Donor on the u lattice `(i dx, (j + ½) dy)`.
+    pub u: LatticeDonor,
+    /// Donor on the v lattice `((i + ½) dx, j dy)`.
+    pub v: LatticeDonor,
+    /// Donor on the cell-centre lattice.
+    pub p: LatticeDonor,
+    /// Donors of the background velocity at the acceptor's OUTER face
+    /// centre (u and v lattices), for the mass-defect measure.
+    pub outer_u: LatticeDonor,
+    /// See `outer_u`.
+    pub outer_v: LatticeDonor,
+}
+
+/// The classification and the donors of one patch position.
+#[derive(Debug, Clone)]
+pub struct OverlapMap {
+    nx: usize,
+    ny: usize,
+    dx: f64,
+    dy: f64,
+    class: Vec<CellClass>,
+    /// Fringe cells (Dirichlet `p`, `p'`).
+    pub fringe_cells: Vec<FringeEntry>,
+    /// Prescribed u faces with donors.
+    pub fringe_u: Vec<FringeEntry>,
+    /// Prescribed v faces with donors.
+    pub fringe_v: Vec<FringeEntry>,
+    /// Acceptor cells on the patch's outer row.
+    pub acceptors: Vec<Acceptor>,
+    /// Patch rows searched for fringe donors (`nn − 1 − overlap_rows − 1 ..= nn − 2`).
+    pub donor_rows: (usize, usize),
+    hole_cells: usize,
+}
+
+/// Number of patch rows below the acceptor row that stay non-hole.
+pub const DEFAULT_OVERLAP_ROWS: usize = 4;
+
+impl OverlapMap {
+    /// Classify the `nx × ny` background of spacing `dx, dy` against
+    /// `patch`, with `overlap_rows` patch rows (below the acceptor row)
+    /// kept non-hole. Errors when a fringe cell has no interior donor or an
+    /// acceptor's donors are not all active (the patch is too thin or too
+    /// close to the domain boundary).
+    pub fn build(
+        patch: &PatchMesh,
+        nx: usize,
+        ny: usize,
+        dx: f64,
+        dy: f64,
+        overlap_rows: usize,
+    ) -> CfdResult<Self> {
+        let (ns, nn) = (patch.ns(), patch.nn());
+        if nn < overlap_rows + 3 {
+            return Err(CfdError::mesh(format!(
+                "overset: patch needs nn >= overlap_rows + 3 = {}, got {nn}",
+                overlap_rows + 3
+            )));
+        }
+        let hole_row_max = nn - 1 - overlap_rows; // k <= this is hole
+        let primal = QuadIndex::primal(patch);
+        let body = body_polygon(patch);
+
+        // 1. Cells.
+        let mut class = vec![CellClass::Active; nx * ny];
+        let mut hole_cells = 0;
+        for j in 0..ny {
+            for i in 0..nx {
+                let x = (i as f64 + 0.5) * dx;
+                let y = (j as f64 + 0.5) * dy;
+                let in_hole = match primal.locate(patch, x, y) {
+                    Some(c) => patch.cell_ki(c).0 <= hole_row_max,
+                    None => body
+                        .as_ref()
+                        .is_some_and(|poly| point_in_polygon(poly, x, y)),
+                };
+                if in_hole {
+                    class[j * nx + i] = CellClass::Hole;
+                    hole_cells += 1;
+                }
+            }
+        }
+        for j in 0..ny {
+            for i in 0..nx {
+                if class[j * nx + i] != CellClass::Hole {
+                    let hole = |jj: usize, ii: usize| class[jj * nx + ii] == CellClass::Hole;
+                    if (i > 0 && hole(j, i - 1))
+                        || (i + 1 < nx && hole(j, i + 1))
+                        || (j > 0 && hole(j - 1, i))
+                        || (j + 1 < ny && hole(j + 1, i))
+                    {
+                        class[j * nx + i] = CellClass::Fringe;
+                    }
+                }
+            }
+        }
+        for j in 0..ny {
+            for i in 0..nx {
+                let c = class[j * nx + i];
+                if c != CellClass::Active && (i == 0 || j == 0 || i + 1 == nx || j + 1 == ny) {
+                    return Err(CfdError::mesh(format!(
+                        "overset: {c:?} cell ({j}, {i}) touches the domain boundary"
+                    )));
+                }
+            }
+        }
+
+        // 2. Fringe donors in the dual quads of rows k ∈ [k_lo, nn − 2].
+        let k_hi = nn - 2;
+        let k_lo = hole_row_max.saturating_sub(1);
+        let dual = QuadIndex::dual(patch, k_lo, k_hi);
+        let is_active = |jj: usize, ii: usize| class[jj * nx + ii] == CellClass::Active;
+        let mut fringe_cells = Vec::new();
+        for j in 0..ny {
+            for i in 0..nx {
+                if class[j * nx + i] == CellClass::Fringe {
+                    let x = (i as f64 + 0.5) * dx;
+                    let y = (j as f64 + 0.5) * dy;
+                    let donor = dual.dual_donor(patch, x, y).ok_or_else(|| {
+                        CfdError::mesh(format!(
+                            "overset: fringe cell ({j}, {i}) at ({x:.4}, {y:.4}) has no interior \
+                             patch donor in rows {k_lo}..={k_hi} — patch too thin"
+                        ))
+                    })?;
+                    fringe_cells.push(FringeEntry { j, i, donor });
+                }
+            }
+        }
+        // Prescribed faces: interior faces with no active neighbour, that
+        // have a donor in the band (deeper ones are never read).
+        let mut fringe_u = Vec::new();
+        for j in 0..ny {
+            for i in 1..nx {
+                if !is_active(j, i - 1) && !is_active(j, i) {
+                    let touches_fringe = class[j * nx + i - 1] == CellClass::Fringe
+                        || class[j * nx + i] == CellClass::Fringe;
+                    let (x, y) = (i as f64 * dx, (j as f64 + 0.5) * dy);
+                    match dual.dual_donor(patch, x, y) {
+                        Some(donor) => fringe_u.push(FringeEntry { j, i, donor }),
+                        None if touches_fringe => {
+                            return Err(CfdError::mesh(format!(
+                                "overset: fringe u face ({j}, {i}) has no interior patch donor"
+                            )));
+                        }
+                        None => {}
+                    }
+                }
+            }
+        }
+        let mut fringe_v = Vec::new();
+        for j in 1..ny {
+            for i in 0..nx {
+                if !is_active(j - 1, i) && !is_active(j, i) {
+                    let touches_fringe = class[(j - 1) * nx + i] == CellClass::Fringe
+                        || class[j * nx + i] == CellClass::Fringe;
+                    let (x, y) = ((i as f64 + 0.5) * dx, j as f64 * dy);
+                    match dual.dual_donor(patch, x, y) {
+                        Some(donor) => fringe_v.push(FringeEntry { j, i, donor }),
+                        None if touches_fringe => {
+                            return Err(CfdError::mesh(format!(
+                                "overset: fringe v face ({j}, {i}) has no interior patch donor"
+                            )));
+                        }
+                        None => {}
+                    }
+                }
+            }
+        }
+
+        // 3. Acceptors: patch row nn − 1, lattice donors on the background.
+        let u_fluid = |jj: usize, ii: usize| {
+            // A u face is fluid unless both adjacent cells are non-active.
+            ii == 0 || ii == nx || is_active(jj, ii - 1) || is_active(jj, ii)
+        };
+        let v_fluid = |jj: usize, ii: usize| {
+            jj == 0 || jj == ny || is_active(jj - 1, ii) || is_active(jj, ii)
+        };
+        let mut acceptors = Vec::with_capacity(ns);
+        for i in 0..ns {
+            let cell = patch.cell(nn - 1, i);
+            let xy = patch.centre(cell);
+            let u = lattice_donor(xy, 0.0, 0.5, dx, dy, nx + 1, ny)?;
+            let v = lattice_donor(xy, 0.5, 0.0, dx, dy, nx, ny + 1)?;
+            let p = lattice_donor(xy, 0.5, 0.5, dx, dy, nx, ny)?;
+            let oc = patch.faces()[patch.nface(nn, i)].centre;
+            let outer_u = lattice_donor(oc, 0.0, 0.5, dx, dy, nx + 1, ny)?;
+            let outer_v = lattice_donor(oc, 0.5, 0.0, dx, dy, nx, ny + 1)?;
+            for (dj, di) in [(0, 0), (0, 1), (1, 0), (1, 1)] {
+                if !u_fluid(u.j0 + dj, u.i0 + di) {
+                    return Err(CfdError::mesh(format!(
+                        "overset: acceptor {i} u donor ({}, {}) is a prescribed face",
+                        u.j0 + dj,
+                        u.i0 + di
+                    )));
+                }
+                if !v_fluid(v.j0 + dj, v.i0 + di) {
+                    return Err(CfdError::mesh(format!(
+                        "overset: acceptor {i} v donor ({}, {}) is a prescribed face",
+                        v.j0 + dj,
+                        v.i0 + di
+                    )));
+                }
+                if !is_active(p.j0 + dj, p.i0 + di) {
+                    return Err(CfdError::mesh(format!(
+                        "overset: acceptor {i} p donor cell ({}, {}) is not active",
+                        p.j0 + dj,
+                        p.i0 + di
+                    )));
+                }
+            }
+            acceptors.push(Acceptor {
+                cell,
+                u,
+                v,
+                p,
+                outer_u,
+                outer_v,
+            });
+        }
+
+        Ok(Self {
+            nx,
+            ny,
+            dx,
+            dy,
+            class,
+            fringe_cells,
+            fringe_u,
+            fringe_v,
+            acceptors,
+            donor_rows: (k_lo, k_hi),
+            hole_cells,
+        })
+    }
+
+    /// Class of background cell `(j, i)`.
+    pub fn class(&self, j: usize, i: usize) -> CellClass {
+        self.class[j * self.nx + i]
+    }
+    /// Number of hole cells.
+    pub fn hole_cells(&self) -> usize {
+        self.hole_cells
+    }
+    /// Number of fringe cells.
+    pub fn fringe_count(&self) -> usize {
+        self.fringe_cells.len()
+    }
+    /// Grid dimensions `(nx, ny, dx, dy)`.
+    pub fn grid(&self) -> (usize, usize, f64, f64) {
+        (self.nx, self.ny, self.dx, self.dy)
+    }
+
+    /// The background mask for the embedded solver: active cells fluid;
+    /// a face is `Fluid` unless both adjacent cells are non-active, in
+    /// which case it is prescribed (`Ghost`, with no reconstruction data —
+    /// its value is stamped from the patch).
+    pub fn background_mask(&self) -> EmbeddedMask {
+        let (nx, ny) = (self.nx, self.ny);
+        let cell_fluid: Vec<bool> = self.class.iter().map(|&c| c == CellClass::Active).collect();
+        let active = |j: usize, i: usize| cell_fluid[j * nx + i];
+        let mut u_kind = vec![FaceKind::Fluid; ny * (nx + 1)];
+        for j in 0..ny {
+            for i in 1..nx {
+                if !active(j, i - 1) && !active(j, i) {
+                    u_kind[j * (nx + 1) + i] = FaceKind::Ghost;
+                }
+            }
+        }
+        let mut v_kind = vec![FaceKind::Fluid; (ny + 1) * nx];
+        for j in 1..ny {
+            for i in 0..nx {
+                if !active(j - 1, i) && !active(j, i) {
+                    v_kind[j * nx + i] = FaceKind::Ghost;
+                }
+            }
+        }
+        EmbeddedMask::from_classification(nx, ny, self.dx, self.dy, cell_fluid, u_kind, v_kind)
+    }
+
+    /// Per-cell Dirichlet flags for the background projection: `true` on
+    /// fringe cells.
+    pub fn fringe_flags(&self) -> Vec<bool> {
+        self.class.iter().map(|&c| c == CellClass::Fringe).collect()
+    }
+
+    /// Interpolate a patch cell field to the fringe cells (order of
+    /// `fringe_cells`).
+    pub fn fringe_cell_values(&self, patch_vals: &[f64]) -> Vec<f64> {
+        self.fringe_cells
+            .iter()
+            .map(|e| dual_value(&e.donor, patch_vals))
+            .collect()
+    }
+
+    /// Stamp `values` (from [`Self::fringe_cell_values`]) onto a
+    /// background cell field.
+    pub fn stamp_fringe_cells(&self, target: &mut nalgebra::DMatrix<f64>, values: &[f64]) {
+        for (e, &v) in self.fringe_cells.iter().zip(values) {
+            target[(e.j, e.i)] = v;
+        }
+    }
+
+    /// Stamp the prescribed u and v faces of the background from the patch
+    /// cell velocities.
+    pub fn stamp_fringe_faces(&self, field: &mut FlowField, patch_u: &[f64], patch_v: &[f64]) {
+        for e in &self.fringe_u {
+            field.u[(e.j, e.i)] = dual_value(&e.donor, patch_u);
+        }
+        for e in &self.fringe_v {
+            field.v[(e.j, e.i)] = dual_value(&e.donor, patch_v);
+        }
+    }
+
+    /// `(u, v, p)` at every acceptor from the background field (order of
+    /// `acceptors`); `p_source` selects which cell field supplies the
+    /// pressure-like value.
+    pub fn acceptor_values(
+        &self,
+        field: &FlowField,
+        p_source: &nalgebra::DMatrix<f64>,
+    ) -> Vec<(f64, f64, f64)> {
+        self.acceptors
+            .iter()
+            .map(|a| {
+                (
+                    a.u.value(&field.u),
+                    a.v.value(&field.v),
+                    a.p.value(p_source),
+                )
+            })
+            .collect()
+    }
+
+    /// The background velocity at every acceptor's outer face centre.
+    pub fn acceptor_outer_velocity(&self, field: &FlowField) -> Vec<(f64, f64)> {
+        self.acceptors
+            .iter()
+            .map(|a| (a.outer_u.value(&field.u), a.outer_v.value(&field.v)))
+            .collect()
+    }
+
+    /// A cell-centred background scalar (e.g. `p'`) at every acceptor.
+    pub fn acceptor_scalar(&self, m: &nalgebra::DMatrix<f64>) -> Vec<f64> {
+        self.acceptors.iter().map(|a| a.p.value(m)).collect()
+    }
+
+    /// Background-side overlap mass defect: `Σ_fringe |Σ_f sign F_f|`
+    /// (volume flux), the continuity the fringe cells do not enforce.
+    pub fn background_mass_defect(&self, field: &FlowField) -> f64 {
+        let (dx, dy) = (self.dx, self.dy);
+        self.fringe_cells
+            .iter()
+            .map(|e| {
+                let (j, i) = (e.j, e.i);
+                ((field.u[(j, i + 1)] - field.u[(j, i)]) * dy
+                    + (field.v[(j + 1, i)] - field.v[(j, i)]) * dx)
+                    .abs()
+            })
+            .sum()
+    }
+}
+
+#[inline]
+fn dual_value(d: &DualDonor, vals: &[f64]) -> f64 {
+    d.w[0] * vals[d.cells[0]]
+        + d.w[1] * vals[d.cells[1]]
+        + d.w[2] * vals[d.cells[2]]
+        + d.w[3] * vals[d.cells[3]]
+}
+
+/// Bilinear donor of point `xy` on a lattice whose node `(j, i)` sits at
+/// `((i + ox) dx, (j + oy) dy)`, with `cols × rows` nodes.
+fn lattice_donor(
+    xy: [f64; 2],
+    ox: f64,
+    oy: f64,
+    dx: f64,
+    dy: f64,
+    cols: usize,
+    rows: usize,
+) -> CfdResult<LatticeDonor> {
+    let fx = xy[0] / dx - ox;
+    let fy = xy[1] / dy - oy;
+    if fx < 0.0 || fy < 0.0 || fx >= (cols - 1) as f64 || fy >= (rows - 1) as f64 {
+        return Err(CfdError::mesh(format!(
+            "overset: acceptor at ({:.4}, {:.4}) lies outside the background lattice",
+            xy[0], xy[1]
+        )));
+    }
+    let i0 = fx.floor() as usize;
+    let j0 = fy.floor() as usize;
+    let (a, b) = (fx - i0 as f64, fy - j0 as f64);
+    Ok(LatticeDonor {
+        j0,
+        i0,
+        w: [(1.0 - a) * (1.0 - b), a * (1.0 - b), (1.0 - a) * b, a * b],
+    })
+}
+
+/// The patch's inner ring as a closed polygon (periodic patches only).
+fn body_polygon(patch: &PatchMesh) -> Option<Vec<[f64; 2]>> {
+    patch.periodic()?;
+    Some(
+        (0..patch.ns())
+            .map(|i| patch.node_xy(patch.node(0, i)))
+            .collect(),
+    )
+}
+
+/// Even–odd point-in-polygon.
+fn point_in_polygon(poly: &[[f64; 2]], x: f64, y: f64) -> bool {
+    let mut inside = false;
+    let n = poly.len();
+    for a in 0..n {
+        let (p, q) = (poly[a], poly[(a + 1) % n]);
+        if (p[1] > y) != (q[1] > y) {
+            let xi = p[0] + (y - p[1]) / (q[1] - p[1]) * (q[0] - p[0]);
+            if x < xi {
+                inside = !inside;
+            }
+        }
+    }
+    inside
+}
+
+/// Is `xy` inside the convex quad `q` (counter-clockwise)?
+fn point_in_quad(q: &[[f64; 2]; 4], x: f64, y: f64, tol: f64) -> bool {
+    (0..4).all(|a| {
+        let (p, r) = (q[a], q[(a + 1) % 4]);
+        (r[0] - p[0]) * (y - p[1]) - (r[1] - p[1]) * (x - p[0]) >= -tol
+    })
+}
+
+/// Bilinear weights of `xy` in the quad `q` (corners in the order
+/// `(0,0) (1,0) (1,1) (0,1)`), by Newton on the inverse map; `None` if
+/// Newton does not converge in 12 steps.
+pub fn inverse_bilinear(q: &[[f64; 2]; 4], x: f64, y: f64) -> Option<[f64; 4]> {
+    let (mut s, mut t) = (0.5, 0.5);
+    let scale = (0..4)
+        .map(|a| (q[a][0] - q[0][0]).abs().max((q[a][1] - q[0][1]).abs()))
+        .fold(0.0, f64::max)
+        .max(1e-300);
+    for _ in 0..12 {
+        let n = [(1.0 - s) * (1.0 - t), s * (1.0 - t), s * t, (1.0 - s) * t];
+        let px = (0..4).map(|a| n[a] * q[a][0]).sum::<f64>() - x;
+        let py = (0..4).map(|a| n[a] * q[a][1]).sum::<f64>() - y;
+        if px.abs().max(py.abs()) <= 1e-14 * scale {
+            return Some(n);
+        }
+        // Jacobian d(px,py)/d(s,t).
+        let dxs = -(1.0 - t) * q[0][0] + (1.0 - t) * q[1][0] + t * q[2][0] - t * q[3][0];
+        let dys = -(1.0 - t) * q[0][1] + (1.0 - t) * q[1][1] + t * q[2][1] - t * q[3][1];
+        let dxt = -(1.0 - s) * q[0][0] - s * q[1][0] + s * q[2][0] + (1.0 - s) * q[3][0];
+        let dyt = -(1.0 - s) * q[0][1] - s * q[1][1] + s * q[2][1] + (1.0 - s) * q[3][1];
+        let det = dxs * dyt - dxt * dys;
+        if det.abs() <= 1e-300 {
+            return None;
+        }
+        s -= (px * dyt - dxt * py) / det;
+        t -= (dxs * py - px * dys) / det;
+    }
+    let n = [(1.0 - s) * (1.0 - t), s * (1.0 - t), s * t, (1.0 - s) * t];
+    let px = (0..4).map(|a| n[a] * q[a][0]).sum::<f64>() - x;
+    let py = (0..4).map(|a| n[a] * q[a][1]).sum::<f64>() - y;
+    (px.abs().max(py.abs()) <= 1e-12 * scale).then_some(n)
+}
+
+/// Uniform bins over a set of quads for point location.
+struct QuadIndex {
+    quads: Vec<([[f64; 2]; 4], [usize; 4])>,
+    x0: f64,
+    y0: f64,
+    bw: f64,
+    bh: f64,
+    nbx: usize,
+    nby: usize,
+    bins: Vec<Vec<usize>>,
+    tol: f64,
+}
+
+impl QuadIndex {
+    /// The primal cells: corners are nodes, payload the cell index (×4).
+    fn primal(patch: &PatchMesh) -> Self {
+        let (ns, nn) = (patch.ns(), patch.nn());
+        let mut quads = Vec::with_capacity(ns * nn);
+        for k in 0..nn {
+            for i in 0..ns {
+                let n = [
+                    patch.node(k, i),
+                    patch.node(k, i + 1),
+                    patch.node(k + 1, i + 1),
+                    patch.node(k + 1, i),
+                ];
+                let c = patch.cell(k, i);
+                quads.push((n.map(|nd| patch.node_xy(nd)), [c; 4]));
+            }
+        }
+        Self::new(quads)
+    }
+
+    /// The dual quads of rows `k_lo..=k_hi` (corners are cell centres,
+    /// payload the four cells), periodic wrap in `i`.
+    fn dual(patch: &PatchMesh, k_lo: usize, k_hi: usize) -> Self {
+        let (ns, nn) = (patch.ns(), patch.nn());
+        let shift = patch.periodic();
+        let cols = if shift.is_some() { ns } else { ns - 1 };
+        let mut quads = Vec::new();
+        for k in k_lo..=k_hi.min(nn - 2) {
+            for i in 0..cols {
+                let i1 = (i + 1) % ns;
+                let wrap = shift.filter(|_| i1 == 0).unwrap_or([0.0; 2]);
+                let cells = [
+                    patch.cell(k, i),
+                    patch.cell(k, i1),
+                    patch.cell(k + 1, i1),
+                    patch.cell(k + 1, i),
+                ];
+                let mut pts = cells.map(|c| patch.centre(c));
+                pts[1] = [pts[1][0] + wrap[0], pts[1][1] + wrap[1]];
+                pts[2] = [pts[2][0] + wrap[0], pts[2][1] + wrap[1]];
+                quads.push((pts, cells));
+            }
+        }
+        Self::new(quads)
+    }
+
+    fn new(quads: Vec<([[f64; 2]; 4], [usize; 4])>) -> Self {
+        let (mut x0, mut y0, mut x1, mut y1) = (
+            f64::INFINITY,
+            f64::INFINITY,
+            f64::NEG_INFINITY,
+            f64::NEG_INFINITY,
+        );
+        let mut hmax = 0.0_f64;
+        for (q, _) in &quads {
+            for p in q {
+                x0 = x0.min(p[0]);
+                y0 = y0.min(p[1]);
+                x1 = x1.max(p[0]);
+                y1 = y1.max(p[1]);
+            }
+            for a in 0..4 {
+                let (p, r) = (q[a], q[(a + 1) % 4]);
+                hmax = hmax.max(((r[0] - p[0]).powi(2) + (r[1] - p[1]).powi(2)).sqrt());
+            }
+        }
+        let n = quads.len().max(1);
+        let side = ((n as f64).sqrt().ceil() as usize).max(1);
+        let bw = ((x1 - x0) / side as f64).max(1e-300);
+        let bh = ((y1 - y0) / side as f64).max(1e-300);
+        let mut bins = vec![Vec::new(); side * side];
+        for (idx, (q, _)) in quads.iter().enumerate() {
+            let (mut bx0, mut by0, mut bx1, mut by1) = (usize::MAX, usize::MAX, 0, 0);
+            for p in q {
+                let bx = (((p[0] - x0) / bw).floor() as usize).min(side - 1);
+                let by = (((p[1] - y0) / bh).floor() as usize).min(side - 1);
+                bx0 = bx0.min(bx);
+                by0 = by0.min(by);
+                bx1 = bx1.max(bx);
+                by1 = by1.max(by);
+            }
+            for by in by0..=by1 {
+                for bx in bx0..=bx1 {
+                    bins[by * side + bx].push(idx);
+                }
+            }
+        }
+        Self {
+            quads,
+            x0,
+            y0,
+            bw,
+            bh,
+            nbx: side,
+            nby: side,
+            bins,
+            tol: 1e-12 * hmax * hmax,
+        }
+    }
+
+    fn candidates(&self, x: f64, y: f64) -> &[usize] {
+        let fx = (x - self.x0) / self.bw;
+        let fy = (y - self.y0) / self.bh;
+        if fx < 0.0 || fy < 0.0 || fx >= self.nbx as f64 || fy >= self.nby as f64 {
+            return &[];
+        }
+        &self.bins[(fy as usize) * self.nbx + fx as usize]
+    }
+
+    /// The primal cell containing `(x, y)`.
+    fn locate(&self, _patch: &PatchMesh, x: f64, y: f64) -> Option<usize> {
+        self.candidates(x, y)
+            .iter()
+            .find(|&&q| point_in_quad(&self.quads[q].0, x, y, self.tol))
+            .map(|&q| self.quads[q].1[0])
+    }
+
+    /// The dual donor of `(x, y)`.
+    fn dual_donor(&self, _patch: &PatchMesh, x: f64, y: f64) -> Option<DualDonor> {
+        for &q in self.candidates(x, y) {
+            let (pts, cells) = &self.quads[q];
+            if point_in_quad(pts, x, y, self.tol) {
+                let w = inverse_bilinear(pts, x, y)?;
+                return Some(DualDonor { cells: *cells, w });
+            }
+        }
+        None
+    }
+}