rtx-cfd 3D Stage 1 item 5: piso3.cu + three_d::piso_device::Piso3Device — the PISO step device-resident (predictors compiled without FMA contraction = the host's arithmetic, per-side boundary tables, divergence/correct/add_p kernels with fixed-order partials, the device CG); poisson_operator/boundary_tables/source_tables/anchor_cell/inner_stop split out of the host solver; StepTimers3 (RTX_PROFILE). Gates 4–6 on the device HELD: MMS 9e-16 (upwind) / 7e-16 (TVD), Beltrami 3.3e-12, Poiseuille 2e-15 with periodic planes equal to 2e-16 (tight tolerances; default-tolerance differences = the projection's inner stop); 55 ms per step at 378×62×62 (predictor 22, poisson 32, apply 2)

Co-Authored-By: Claude Fable 5.1 <[email protected]>

crates/specialized/rtx-cfd/src/kernels/cuda/piso3.cu

@@ -0,0 +1,449 @@
+/**
+ * 3D Stage 1, item 5: the PISO step's maps on the device — the three
+ * predictors (the host `piso_predictor.rs` expression for expression; the
+ * module is compiled with FMA contraction OFF so the f64 arithmetic is the
+ * host's), the normal-velocity stamping from per-side tables, the
+ * continuity source, the corrections, the pressure update and the mass
+ * imbalance partials. One thread per face / cell.
+ */
+#define SIDE_VELOCITY 0
+#define SIDE_SLIP 1
+#define SIDE_OUTLET 2
+#define SIDE_PERIODIC 3
+#define SCHEME_UPWIND 0
+#define SCHEME_VAN_ALBADA 1
+#define SCHEME_VAN_LEER 2
+
+struct P3Params {
+    int nx, ny, nz;
+    int periodic_z;
+    int bx0, bx1, by0, by1, bz0, bz1;
+    int scheme;
+    int pad;
+    double dx, dy, dz, dt, rho, nu;
+};
+
+/* Per-side tables: [side][component]; see `BoundaryTables` in piso_device.rs. */
+struct P3Ptrs {
+    double *u, *v, *w, *p, *uo, *vo, *wo, *us, *vs, *ws, *pp, *sp;
+    const double *su, *sv, *sw;
+    const double *bx0u, *bx0v, *bx0w, *bx1u, *bx1v, *bx1w;
+    const double *by0u, *by0v, *by0w, *by1u, *by1v, *by1w;
+    const double *bz0u, *bz0v, *bz0w, *bz1u, *bz1v, *bz1w;
+};
+
+__device__ __forceinline__ int cell3(const P3Params& g, int k, int j, int i) { return (k * g.ny + j) * g.nx + i; }
+__device__ __forceinline__ int uf3(const P3Params& g, int k, int j, int i) { return (k * g.ny + j) * (g.nx + 1) + i; }
+__device__ __forceinline__ int vf3(const P3Params& g, int k, int j, int i) { return (k * (g.ny + 1) + j) * g.nx + i; }
+__device__ __forceinline__ int wf3(const P3Params& g, int k, int j, int i) { return (k * g.ny + j) * g.nx + i; }
+
+__device__ __forceinline__ double upwind3(double face_velocity, double upstream, double downstream) {
+    return face_velocity >= 0.0 ? upstream : downstream;
+}
+
+__device__ __forceinline__ double limiter3(int scheme, double r) {
+    if (scheme == SCHEME_VAN_ALBADA) return r > 0.0 ? (r * r + r) / (r * r + 1.0) : 0.0;
+    if (scheme == SCHEME_VAN_LEER) return (r + fabs(r)) / (1.0 + fabs(r));
+    return 0.0;
+}
+
+/* The limited correction; `has_far` = the far-upwind node exists. */
+__device__ __forceinline__ double face_corr3(int scheme, int has_far, double far, double up, double down) {
+    if (!has_far) return 0.0;
+    double denominator = down - up;
+    if (fabs(denominator) < 1e-300) return 0.0;
+    double r = (up - far) / denominator;
+    return 0.5 * limiter3(scheme, r) * denominator;
+}
+
+/* k above / below with the periodic wrap; −1 = wall. */
+__device__ __forceinline__ int k_up3(const P3Params& g, int k) { return k + 1 < g.nz ? k + 1 : (g.periodic_z ? 0 : -1); }
+__device__ __forceinline__ int k_dn3(const P3Params& g, int k) { return k > 0 ? k - 1 : (g.periodic_z ? g.nz - 1 : -1); }
+
+extern "C" __global__ void p3_predict_u(P3Params g, P3Ptrs f)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int nxp = g.nx + 1;
+    int total = nxp * g.ny * g.nz;
+    if (t >= total) return;
+    int i = t % nxp; int j = (t / nxp) % g.ny; int k = t / (nxp * g.ny);
+    if (i == 0 || i == g.nx) return;
+    const double *uo = f.uo, *vo = f.vo, *wo = f.wo;
+    double dx = g.dx, dy = g.dy, dz = g.dz, rho = g.rho, nu = g.nu;
+    int scheme = g.scheme;
+    double u_p = uo[uf3(g, k, j, i)];
+    double ue_face = 0.5 * (uo[uf3(g, k, j, i)] + uo[uf3(g, k, j, i + 1)]);
+    double uw_face = 0.5 * (uo[uf3(g, k, j, i - 1)] + uo[uf3(g, k, j, i)]);
+    int south_is_wall = (j == 0);
+    int north_is_wall = (j + 1 == g.ny);
+    double vn_face = 0.5 * (vo[vf3(g, k, j + 1, i - 1)] + vo[vf3(g, k, j + 1, i)]);
+    double vs_face = 0.5 * (vo[vf3(g, k, j, i - 1)] + vo[vf3(g, k, j, i)]);
+    double beyond_north = (g.by1 == SIDE_VELOCITY) ? f.by1u[k * nxp + i] : u_p;
+    double beyond_south = (g.by0 == SIDE_VELOCITY) ? f.by0u[k * nxp + i] : u_p;
+    double conv_x = (ue_face * upwind3(ue_face, uo[uf3(g, k, j, i)], uo[uf3(g, k, j, i + 1)])
+        - uw_face * upwind3(uw_face, uo[uf3(g, k, j, i - 1)], uo[uf3(g, k, j, i)])) / dx;
+    double conv_y = (vn_face * (north_is_wall ? upwind3(vn_face, u_p, beyond_north)
+                                              : upwind3(vn_face, uo[uf3(g, k, j, i)], uo[uf3(g, k, j + 1, i)]))
+        - vs_face * (south_is_wall ? upwind3(vs_face, beyond_south, u_p)
+                                   : upwind3(vs_face, uo[uf3(g, k, j - 1, i)], uo[uf3(g, k, j, i)]))) / dy;
+    if (scheme != SCHEME_UPWIND) {
+        double delta_e, delta_w, delta_n, delta_s;
+        if (ue_face >= 0.0) delta_e = face_corr3(scheme, 1, uo[uf3(g, k, j, i - 1)], uo[uf3(g, k, j, i)], uo[uf3(g, k, j, i + 1)]);
+        else { int has = (i + 2 <= g.nx); delta_e = face_corr3(scheme, has, has ? uo[uf3(g, k, j, i + 2)] : 0.0, uo[uf3(g, k, j, i + 1)], uo[uf3(g, k, j, i)]); }
+        if (uw_face >= 0.0) { int has = (i >= 2); delta_w = face_corr3(scheme, has, has ? uo[uf3(g, k, j, i - 2)] : 0.0, uo[uf3(g, k, j, i - 1)], uo[uf3(g, k, j, i)]); }
+        else delta_w = face_corr3(scheme, 1, uo[uf3(g, k, j, i + 1)], uo[uf3(g, k, j, i)], uo[uf3(g, k, j, i - 1)]);
+        if (north_is_wall) delta_n = 0.0;
+        else if (vn_face >= 0.0) { int has = (j >= 1); delta_n = face_corr3(scheme, has, has ? uo[uf3(g, k, j - 1, i)] : 0.0, uo[uf3(g, k, j, i)], uo[uf3(g, k, j + 1, i)]); }
+        else { int has = (j + 2 < g.ny); delta_n = face_corr3(scheme, has, has ? uo[uf3(g, k, j + 2, i)] : 0.0, uo[uf3(g, k, j + 1, i)], uo[uf3(g, k, j, i)]); }
+        if (south_is_wall) delta_s = 0.0;
+        else if (vs_face >= 0.0) { int has = (j >= 2); delta_s = face_corr3(scheme, has, has ? uo[uf3(g, k, j - 2, i)] : 0.0, uo[uf3(g, k, j - 1, i)], uo[uf3(g, k, j, i)]); }
+        else { int has = (j + 1 < g.ny); delta_s = face_corr3(scheme, has, has ? uo[uf3(g, k, j + 1, i)] : 0.0, uo[uf3(g, k, j, i)], uo[uf3(g, k, j - 1, i)]); }
+        conv_x += (ue_face * delta_e - uw_face * delta_w) / dx;
+        conv_y += (vn_face * delta_n - vs_face * delta_s) / dy;
+    }
+    double diff_x = nu * (uo[uf3(g, k, j, i + 1)] - 2.0 * u_p + uo[uf3(g, k, j, i - 1)]) / (dx * dx);
+    double flux_north = north_is_wall ? (g.by1 == SIDE_VELOCITY ? nu * (f.by1u[k * nxp + i] - u_p) / (0.5 * dy) : 0.0)
+                                      : nu * (uo[uf3(g, k, j + 1, i)] - u_p) / dy;
+    double flux_south = south_is_wall ? (g.by0 == SIDE_VELOCITY ? nu * (u_p - f.by0u[k * nxp + i]) / (0.5 * dy) : 0.0)
+                                      : nu * (u_p - uo[uf3(g, k, j - 1, i)]) / dy;
+    double diff_y = (flux_north - flux_south) / dy;
+    double pressure_gradient = -(f.p[cell3(g, k, j, i)] - f.p[cell3(g, k, j, i - 1)]) / (rho * dx);
+    double body_force = f.su[uf3(g, k, j, i)] / rho;
+    double rhs_2d = -conv_x - conv_y + diff_x + diff_y + pressure_gradient + body_force;
+    /* z terms */
+    int ku = k_up3(g, k), kd = k_dn3(g, k);
+    int top_is_wall = (ku < 0), bottom_is_wall = (kd < 0);
+    double wt_face = 0.5 * (wo[wf3(g, k + 1, j, i - 1)] + wo[wf3(g, k + 1, j, i)]);
+    double wb_face = 0.5 * (wo[wf3(g, k, j, i - 1)] + wo[wf3(g, k, j, i)]);
+    double beyond_top = (g.bz1 == SIDE_VELOCITY) ? f.bz1u[j * nxp + i] : u_p;
+    double beyond_bottom = (g.bz0 == SIDE_VELOCITY) ? f.bz0u[j * nxp + i] : u_p;
+    double u_up = top_is_wall ? u_p : uo[uf3(g, ku, j, i)];
+    double u_dn = bottom_is_wall ? u_p : uo[uf3(g, kd, j, i)];
+    double conv_z = (wt_face * (top_is_wall ? upwind3(wt_face, u_p, beyond_top) : upwind3(wt_face, u_p, u_up))
+        - wb_face * (bottom_is_wall ? upwind3(wb_face, beyond_bottom, u_p) : upwind3(wb_face, u_dn, u_p))) / dz;
+    if (scheme != SCHEME_UPWIND) {
+        int ku2 = top_is_wall ? -1 : k_up3(g, ku);
+        int kd2 = bottom_is_wall ? -1 : k_dn3(g, kd);
+        double far_up2 = ku2 >= 0 ? uo[uf3(g, ku2, j, i)] : 0.0;
+        double far_dn2 = kd2 >= 0 ? uo[uf3(g, kd2, j, i)] : 0.0;
+        double delta_t, delta_b;
+        if (top_is_wall) delta_t = 0.0;
+        else if (wt_face >= 0.0) delta_t = face_corr3(scheme, !bottom_is_wall, u_dn, u_p, u_up);
+        else delta_t = face_corr3(scheme, ku2 >= 0, far_up2, u_up, u_p);
+        if (bottom_is_wall) delta_b = 0.0;
+        else if (wb_face >= 0.0) delta_b = face_corr3(scheme, kd2 >= 0, far_dn2, u_dn, u_p);
+        else delta_b = face_corr3(scheme, !top_is_wall, u_up, u_p, u_dn);
+        conv_z += (wt_face * delta_t - wb_face * delta_b) / dz;
+    }
+    double flux_top = top_is_wall ? (g.bz1 == SIDE_VELOCITY ? nu * (beyond_top - u_p) / (0.5 * dz) : 0.0) : nu * (u_up - u_p) / dz;
+    double flux_bottom = bottom_is_wall ? (g.bz0 == SIDE_VELOCITY ? nu * (u_p - beyond_bottom) / (0.5 * dz) : 0.0) : nu * (u_p - u_dn) / dz;
+    double diff_z = (flux_top - flux_bottom) / dz;
+    double rhs = rhs_2d - conv_z + diff_z;
+    f.u[uf3(g, k, j, i)] = uo[uf3(g, k, j, i)] + g.dt * rhs;
+}
+
+extern "C" __global__ void p3_predict_v(P3Params g, P3Ptrs f)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int nyp = g.ny + 1;
+    int total = g.nx * nyp * g.nz;
+    if (t >= total) return;
+    int i = t % g.nx; int j = (t / g.nx) % nyp; int k = t / (g.nx * nyp);
+    if (j == 0 || j == g.ny) return;
+    const double *uo = f.uo, *vo = f.vo, *wo = f.wo;
+    double dx = g.dx, dy = g.dy, dz = g.dz, rho = g.rho, nu = g.nu;
+    int scheme = g.scheme;
+    double v_p = vo[vf3(g, k, j, i)];
+    double vn_face = 0.5 * (vo[vf3(g, k, j, i)] + vo[vf3(g, k, j + 1, i)]);
+    double vs_face = 0.5 * (vo[vf3(g, k, j - 1, i)] + vo[vf3(g, k, j, i)]);
+    int west_is_wall = (i == 0), east_is_wall = (i + 1 == g.nx);
+    double ue_face = 0.5 * (uo[uf3(g, k, j - 1, i + 1)] + uo[uf3(g, k, j, i + 1)]);
+    double uw_face = 0.5 * (uo[uf3(g, k, j - 1, i)] + uo[uf3(g, k, j, i)]);
+    double beyond_east = (g.bx1 == SIDE_VELOCITY) ? f.bx1v[k * nyp + j] : v_p;
+    double beyond_west = (g.bx0 == SIDE_VELOCITY) ? f.bx0v[k * nyp + j] : v_p;
+    double conv_y = (vn_face * upwind3(vn_face, vo[vf3(g, k, j, i)], vo[vf3(g, k, j + 1, i)])
+        - vs_face * upwind3(vs_face, vo[vf3(g, k, j - 1, i)], vo[vf3(g, k, j, i)])) / dy;
+    double conv_x = (ue_face * (east_is_wall ? upwind3(ue_face, v_p, beyond_east)
+                                             : upwind3(ue_face, vo[vf3(g, k, j, i)], vo[vf3(g, k, j, i + 1)]))
+        - uw_face * (west_is_wall ? upwind3(uw_face, beyond_west, v_p)
+                                  : upwind3(uw_face, vo[vf3(g, k, j, i - 1)], vo[vf3(g, k, j, i)]))) / dx;
+    if (scheme != SCHEME_UPWIND) {
+        double delta_n, delta_s, delta_e, delta_w;
+        if (vn_face >= 0.0) delta_n = face_corr3(scheme, 1, vo[vf3(g, k, j - 1, i)], vo[vf3(g, k, j, i)], vo[vf3(g, k, j + 1, i)]);
+        else { int has = (j + 2 <= g.ny); delta_n = face_corr3(scheme, has, has ? vo[vf3(g, k, j + 2, i)] : 0.0, vo[vf3(g, k, j + 1, i)], vo[vf3(g, k, j, i)]); }
+        if (vs_face >= 0.0) { int has = (j >= 2); delta_s = face_corr3(scheme, has, has ? vo[vf3(g, k, j - 2, i)] : 0.0, vo[vf3(g, k, j - 1, i)], vo[vf3(g, k, j, i)]); }
+        else delta_s = face_corr3(scheme, 1, vo[vf3(g, k, j + 1, i)], vo[vf3(g, k, j, i)], vo[vf3(g, k, j - 1, i)]);
+        if (east_is_wall) delta_e = 0.0;
+        else if (ue_face >= 0.0) { int has = (i >= 1); delta_e = face_corr3(scheme, has, has ? vo[vf3(g, k, j, i - 1)] : 0.0, vo[vf3(g, k, j, i)], vo[vf3(g, k, j, i + 1)]); }
+        else { int has = (i + 2 < g.nx); delta_e = face_corr3(scheme, has, has ? vo[vf3(g, k, j, i + 2)] : 0.0, vo[vf3(g, k, j, i + 1)], vo[vf3(g, k, j, i)]); }
+        if (west_is_wall) delta_w = 0.0;
+        else if (uw_face >= 0.0) { int has = (i >= 2); delta_w = face_corr3(scheme, has, has ? vo[vf3(g, k, j, i - 2)] : 0.0, vo[vf3(g, k, j, i - 1)], vo[vf3(g, k, j, i)]); }
+        else { int has = (i + 1 < g.nx); delta_w = face_corr3(scheme, has, has ? vo[vf3(g, k, j, i + 1)] : 0.0, vo[vf3(g, k, j, i)], vo[vf3(g, k, j, i - 1)]); }
+        conv_y += (vn_face * delta_n - vs_face * delta_s) / dy;
+        conv_x += (ue_face * delta_e - uw_face * delta_w) / dx;
+    }
+    double diff_y = nu * (vo[vf3(g, k, j + 1, i)] - 2.0 * v_p + vo[vf3(g, k, j - 1, i)]) / (dy * dy);
+    double flux_east = east_is_wall ? (g.bx1 == SIDE_VELOCITY ? nu * (f.bx1v[k * nyp + j] - v_p) / (0.5 * dx) : 0.0)
+                                    : nu * (vo[vf3(g, k, j, i + 1)] - v_p) / dx;
+    double flux_west = west_is_wall ? (g.bx0 == SIDE_VELOCITY ? nu * (v_p - f.bx0v[k * nyp + j]) / (0.5 * dx) : 0.0)
+                                    : nu * (v_p - vo[vf3(g, k, j, i - 1)]) / dx;
+    double diff_x = (flux_east - flux_west) / dx;
+    double pressure_gradient = -(f.p[cell3(g, k, j, i)] - f.p[cell3(g, k, j - 1, i)]) / (rho * dy);
+    double body_force = f.sv[vf3(g, k, j, i)] / rho;
+    double rhs_2d = -conv_x - conv_y + diff_x + diff_y + pressure_gradient + body_force;
+    /* z terms */
+    int ku = k_up3(g, k), kd = k_dn3(g, k);
+    int top_is_wall = (ku < 0), bottom_is_wall = (kd < 0);
+    double wt_face = 0.5 * (wo[wf3(g, k + 1, j - 1, i)] + wo[wf3(g, k + 1, j, i)]);
+    double wb_face = 0.5 * (wo[wf3(g, k, j - 1, i)] + wo[wf3(g, k, j, i)]);
+    double beyond_top = (g.bz1 == SIDE_VELOCITY) ? f.bz1v[j * g.nx + i] : v_p;
+    double beyond_bottom = (g.bz0 == SIDE_VELOCITY) ? f.bz0v[j * g.nx + i] : v_p;
+    double v_up = top_is_wall ? v_p : vo[vf3(g, ku, j, i)];
+    double v_dn = bottom_is_wall ? v_p : vo[vf3(g, kd, j, i)];
+    double conv_z = (wt_face * (top_is_wall ? upwind3(wt_face, v_p, beyond_top) : upwind3(wt_face, v_p, v_up))
+        - wb_face * (bottom_is_wall ? upwind3(wb_face, beyond_bottom, v_p) : upwind3(wb_face, v_dn, v_p))) / dz;
+    if (scheme != SCHEME_UPWIND) {
+        int ku2 = top_is_wall ? -1 : k_up3(g, ku);
+        int kd2 = bottom_is_wall ? -1 : k_dn3(g, kd);
+        double far_up2 = ku2 >= 0 ? vo[vf3(g, ku2, j, i)] : 0.0;
+        double far_dn2 = kd2 >= 0 ? vo[vf3(g, kd2, j, i)] : 0.0;
+        double delta_t, delta_b;
+        if (top_is_wall) delta_t = 0.0;
+        else if (wt_face >= 0.0) delta_t = face_corr3(scheme, !bottom_is_wall, v_dn, v_p, v_up);
+        else delta_t = face_corr3(scheme, ku2 >= 0, far_up2, v_up, v_p);
+        if (bottom_is_wall) delta_b = 0.0;
+        else if (wb_face >= 0.0) delta_b = face_corr3(scheme, kd2 >= 0, far_dn2, v_dn, v_p);
+        else delta_b = face_corr3(scheme, !top_is_wall, v_up, v_p, v_dn);
+        conv_z += (wt_face * delta_t - wb_face * delta_b) / dz;
+    }
+    double flux_top = top_is_wall ? (g.bz1 == SIDE_VELOCITY ? nu * (beyond_top - v_p) / (0.5 * dz) : 0.0) : nu * (v_up - v_p) / dz;
+    double flux_bottom = bottom_is_wall ? (g.bz0 == SIDE_VELOCITY ? nu * (v_p - beyond_bottom) / (0.5 * dz) : 0.0) : nu * (v_p - v_dn) / dz;
+    double diff_z = (flux_top - flux_bottom) / dz;
+    double rhs = rhs_2d - conv_z + diff_z;
+    f.v[vf3(g, k, j, i)] = vo[vf3(g, k, j, i)] + g.dt * rhs;
+}
+
+extern "C" __global__ void p3_predict_w(P3Params g, P3Ptrs f)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int total = g.nx * g.ny * (g.nz + 1);
+    if (t >= total) return;
+    int i = t % g.nx; int j = (t / g.nx) % g.ny; int k = t / (g.nx * g.ny);
+    int periodic = g.periodic_z;
+    if (periodic) { if (k == g.nz) return; } else { if (k == 0 || k == g.nz) return; }
+    const double *uo = f.uo, *vo = f.vo, *wo = f.wo;
+    double dx = g.dx, dy = g.dy, dz = g.dz, rho = g.rho, nu = g.nu;
+    int scheme = g.scheme;
+    int nz = g.nz;
+    int k_below = k > 0 ? k - 1 : nz - 1;
+    int k_above = k % nz;
+    int w_dn_idx = k > 0 ? wf3(g, k - 1, j, i) : wf3(g, nz - 1, j, i);
+    int w_up_idx = (k + 1 == nz && periodic) ? wf3(g, 0, j, i) : wf3(g, k + 1, j, i);
+    double w_p = wo[wf3(g, k, j, i)];
+    double wt_face = 0.5 * (wo[wf3(g, k, j, i)] + wo[w_up_idx]);
+    double wb_face = 0.5 * (wo[w_dn_idx] + wo[wf3(g, k, j, i)]);
+    int west_is_wall = (i == 0), east_is_wall = (i + 1 == g.nx);
+    int south_is_wall = (j == 0), north_is_wall = (j + 1 == g.ny);
+    double ue_face = 0.5 * (uo[uf3(g, k_below, j, i + 1)] + uo[uf3(g, k_above, j, i + 1)]);
+    double uw_face = 0.5 * (uo[uf3(g, k_below, j, i)] + uo[uf3(g, k_above, j, i)]);
+    double vn_face = 0.5 * (vo[vf3(g, k_below, j + 1, i)] + vo[vf3(g, k_above, j + 1, i)]);
+    double vs_face = 0.5 * (vo[vf3(g, k_below, j, i)] + vo[vf3(g, k_above, j, i)]);
+    double beyond_east = (g.bx1 == SIDE_VELOCITY) ? f.bx1w[k * g.ny + j] : w_p;
+    double beyond_west = (g.bx0 == SIDE_VELOCITY) ? f.bx0w[k * g.ny + j] : w_p;
+    double beyond_north = (g.by1 == SIDE_VELOCITY) ? f.by1w[k * g.nx + i] : w_p;
+    double beyond_south = (g.by0 == SIDE_VELOCITY) ? f.by0w[k * g.nx + i] : w_p;
+    double conv_z = (wt_face * upwind3(wt_face, w_p, wo[w_up_idx]) - wb_face * upwind3(wb_face, wo[w_dn_idx], w_p)) / dz;
+    double conv_x = (ue_face * (east_is_wall ? upwind3(ue_face, w_p, beyond_east) : upwind3(ue_face, w_p, wo[wf3(g, k, j, i + 1)]))
+        - uw_face * (west_is_wall ? upwind3(uw_face, beyond_west, w_p) : upwind3(uw_face, wo[wf3(g, k, j, i - 1)], w_p))) / dx;
+    double conv_y = (vn_face * (north_is_wall ? upwind3(vn_face, w_p, beyond_north) : upwind3(vn_face, w_p, wo[wf3(g, k, j + 1, i)]))
+        - vs_face * (south_is_wall ? upwind3(vs_face, beyond_south, w_p) : upwind3(vs_face, wo[wf3(g, k, j - 1, i)], w_p))) / dy;
+    if (scheme != SCHEME_UPWIND) {
+        int has_up2, has_dn2; double far_up2 = 0.0, far_dn2 = 0.0;
+        if (periodic) { has_up2 = 1; far_up2 = wo[wf3(g, (k + 2) % nz, j, i)]; has_dn2 = 1; far_dn2 = wo[wf3(g, (k + nz - 2) % nz, j, i)]; }
+        else { has_up2 = (k + 2 <= nz); if (has_up2) far_up2 = wo[wf3(g, k + 2, j, i)]; has_dn2 = (k >= 2); if (has_dn2) far_dn2 = wo[wf3(g, k - 2, j, i)]; }
+        double delta_t = wt_face >= 0.0 ? face_corr3(scheme, 1, wo[w_dn_idx], w_p, wo[w_up_idx]) : face_corr3(scheme, has_up2, far_up2, wo[w_up_idx], w_p);
+        double delta_b = wb_face >= 0.0 ? face_corr3(scheme, has_dn2, far_dn2, wo[w_dn_idx], w_p) : face_corr3(scheme, 1, wo[w_up_idx], w_p, wo[w_dn_idx]);
+        double delta_e, delta_w, delta_n, delta_s;
+        if (east_is_wall) delta_e = 0.0;
+        else if (ue_face >= 0.0) { int has = (i >= 1); delta_e = face_corr3(scheme, has, has ? wo[wf3(g, k, j, i - 1)] : 0.0, w_p, wo[wf3(g, k, j, i + 1)]); }
+        else { int has = (i + 2 < g.nx); delta_e = face_corr3(scheme, has, has ? wo[wf3(g, k, j, i + 2)] : 0.0, wo[wf3(g, k, j, i + 1)], w_p); }
+        if (west_is_wall) delta_w = 0.0;
+        else if (uw_face >= 0.0) { int has = (i >= 2); delta_w = face_corr3(scheme, has, has ? wo[wf3(g, k, j, i - 2)] : 0.0, wo[wf3(g, k, j, i - 1)], w_p); }
+        else { int has = (i + 1 < g.nx); delta_w = face_corr3(scheme, has, has ? wo[wf3(g, k, j, i + 1)] : 0.0, w_p, wo[wf3(g, k, j, i - 1)]); }
+        if (north_is_wall) delta_n = 0.0;
+        else if (vn_face >= 0.0) { int has = (j >= 1); delta_n = face_corr3(scheme, has, has ? wo[wf3(g, k, j - 1, i)] : 0.0, w_p, wo[wf3(g, k, j + 1, i)]); }
+        else { int has = (j + 2 < g.ny); delta_n = face_corr3(scheme, has, has ? wo[wf3(g, k, j + 2, i)] : 0.0, wo[wf3(g, k, j + 1, i)], w_p); }
+        if (south_is_wall) delta_s = 0.0;
+        else if (vs_face >= 0.0) { int has = (j >= 2); delta_s = face_corr3(scheme, has, has ? wo[wf3(g, k, j - 2, i)] : 0.0, wo[wf3(g, k, j - 1, i)], w_p); }
+        else { int has = (j + 1 < g.ny); delta_s = face_corr3(scheme, has, has ? wo[wf3(g, k, j + 1, i)] : 0.0, w_p, wo[wf3(g, k, j - 1, i)]); }
+        conv_z += (wt_face * delta_t - wb_face * delta_b) / dz;
+        conv_x += (ue_face * delta_e - uw_face * delta_w) / dx;
+        conv_y += (vn_face * delta_n - vs_face * delta_s) / dy;
+    }
+    double diff_z = nu * (wo[w_up_idx] - 2.0 * w_p + wo[w_dn_idx]) / (dz * dz);
+    double flux_east = east_is_wall ? (g.bx1 == SIDE_VELOCITY ? nu * (beyond_east - w_p) / (0.5 * dx) : 0.0) : nu * (wo[wf3(g, k, j, i + 1)] - w_p) / dx;
+    double flux_west = west_is_wall ? (g.bx0 == SIDE_VELOCITY ? nu * (w_p - beyond_west) / (0.5 * dx) : 0.0) : nu * (w_p - wo[wf3(g, k, j, i - 1)]) / dx;
+    double diff_x = (flux_east - flux_west) / dx;
+    double flux_north = north_is_wall ? (g.by1 == SIDE_VELOCITY ? nu * (beyond_north - w_p) / (0.5 * dy) : 0.0) : nu * (wo[wf3(g, k, j + 1, i)] - w_p) / dy;
+    double flux_south = south_is_wall ? (g.by0 == SIDE_VELOCITY ? nu * (w_p - beyond_south) / (0.5 * dy) : 0.0) : nu * (w_p - wo[wf3(g, k, j - 1, i)]) / dy;
+    double diff_y = (flux_north - flux_south) / dy;
+    double pressure_gradient = -(f.p[cell3(g, k_above, j, i)] - f.p[cell3(g, k_below, j, i)]) / (rho * dz);
+    double body_force = f.sw[wf3(g, k, j, i)] / rho;
+    double rhs = -conv_x - conv_y - conv_z + diff_x + diff_y + diff_z + pressure_gradient + body_force;
+    f.w[wf3(g, k, j, i)] = wo[wf3(g, k, j, i)] + g.dt * rhs;
+}
+
+/* After the predictor: the periodic copy w[nz] = w[0], the outlet
+ * zero-gradient faces, and the normal stamping from the tables. One thread
+ * per (k, j) for the x sides, (k, i) for the y sides, (j, i) for the z
+ * sides — three kernels. */
+extern "C" __global__ void p3_sides_x(P3Params g, P3Ptrs f, int stamp)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    if (t >= g.ny * g.nz) return;
+    int j = t % g.ny, k = t / g.ny;
+    if (g.bx0 == SIDE_OUTLET) f.u[uf3(g, k, j, 0)] = f.u[uf3(g, k, j, 1)];
+    else if (stamp) f.u[uf3(g, k, j, 0)] = f.bx0u[k * g.ny + j];
+    if (g.bx1 == SIDE_OUTLET) f.u[uf3(g, k, j, g.nx)] = f.u[uf3(g, k, j, g.nx - 1)];
+    else if (stamp) f.u[uf3(g, k, j, g.nx)] = f.bx1u[k * g.ny + j];
+}
+
+extern "C" __global__ void p3_sides_y(P3Params g, P3Ptrs f, int stamp)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    if (t >= g.nx * g.nz) return;
+    int i = t % g.nx, k = t / g.nx;
+    if (g.by0 == SIDE_OUTLET) f.v[vf3(g, k, 0, i)] = f.v[vf3(g, k, 1, i)];
+    else if (stamp) f.v[vf3(g, k, 0, i)] = f.by0v[k * g.nx + i];
+    if (g.by1 == SIDE_OUTLET) f.v[vf3(g, k, g.ny, i)] = f.v[vf3(g, k, g.ny - 1, i)];
+    else if (stamp) f.v[vf3(g, k, g.ny, i)] = f.by1v[k * g.nx + i];
+}
+
+extern "C" __global__ void p3_sides_z(P3Params g, P3Ptrs f, int stamp)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    if (t >= g.nx * g.ny) return;
+    int i = t % g.nx, j = t / g.nx;
+    if (g.periodic_z) { f.w[wf3(g, g.nz, j, i)] = f.w[wf3(g, 0, j, i)]; return; }
+    if (g.bz0 == SIDE_OUTLET) f.w[wf3(g, 0, j, i)] = f.w[wf3(g, 1, j, i)];
+    else if (stamp) f.w[wf3(g, 0, j, i)] = f.bz0w[j * g.nx + i];
+    if (g.bz1 == SIDE_OUTLET) f.w[wf3(g, g.nz, j, i)] = f.w[wf3(g, g.nz - 1, j, i)];
+    else if (stamp) f.w[wf3(g, g.nz, j, i)] = f.bz1w[j * g.nx + i];
+}
+
+/* sp = −ρ Σ (flux out) over the cells; partial[block] = Σ |flux| (source scale). */
+extern "C" __global__ void p3_divergence(P3Params g, P3Ptrs f, double* __restrict__ partial)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int total = g.nx * g.ny * g.nz;
+    double v = 0.0;
+    if (t < total) {
+        int i = t % g.nx; int j = (t / g.nx) % g.ny; int k = t / (g.nx * g.ny);
+        double divergence_flux = g.rho
+            * ((f.us[uf3(g, k, j, i + 1)] - f.us[uf3(g, k, j, i)]) * (g.dy * g.dz)
+               + (f.vs[vf3(g, k, j + 1, i)] - f.vs[vf3(g, k, j, i)]) * (g.dx * g.dz)
+               + (f.ws[wf3(g, k + 1, j, i)] - f.ws[wf3(g, k, j, i)]) * (g.dx * g.dy));
+        f.sp[t] = -divergence_flux;
+        v = fabs(divergence_flux);
+    }
+    __shared__ double sh[256];
+    sh[threadIdx.x] = v;
+    __syncthreads();
+    for (int s = 128; s > 0; s >>= 1) { if (threadIdx.x < s) sh[threadIdx.x] += sh[threadIdx.x + s]; __syncthreads(); }
+    if (threadIdx.x == 0) partial[blockIdx.x] = sh[0];
+}
+
+/* The corrections from p' (interior faces, outlet faces against 0 outside). */
+extern "C" __global__ void p3_correct_u(P3Params g, P3Ptrs f)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int nxp = g.nx + 1;
+    if (t >= nxp * g.ny * g.nz) return;
+    int i = t % nxp; int j = (t / nxp) % g.ny; int k = t / (nxp * g.ny);
+    double c = g.dt / g.rho;
+    if (i >= 1 && i < g.nx) {
+        double dp_dx = (f.pp[cell3(g, k, j, i)] - f.pp[cell3(g, k, j, i - 1)]) / g.dx;
+        f.u[t] = f.us[t] - c * dp_dx;
+    } else if (i == 0 && g.bx0 == SIDE_OUTLET) {
+        double dp_dx = (f.pp[cell3(g, k, j, 0)] - 0.0) / (0.5 * g.dx);
+        f.u[t] = f.us[t] - c * dp_dx;
+    } else if (i == g.nx && g.bx1 == SIDE_OUTLET) {
+        double dp_dx = (0.0 - f.pp[cell3(g, k, j, g.nx - 1)]) / (0.5 * g.dx);
+        f.u[t] = f.us[t] - c * dp_dx;
+    }
+}
+
+extern "C" __global__ void p3_correct_v(P3Params g, P3Ptrs f)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int nyp = g.ny + 1;
+    if (t >= g.nx * nyp * g.nz) return;
+    int i = t % g.nx; int j = (t / g.nx) % nyp; int k = t / (g.nx * nyp);
+    double c = g.dt / g.rho;
+    if (j >= 1 && j < g.ny) {
+        double dp_dy = (f.pp[cell3(g, k, j, i)] - f.pp[cell3(g, k, j - 1, i)]) / g.dy;
+        f.v[t] = f.vs[t] - c * dp_dy;
+    } else if (j == 0 && g.by0 == SIDE_OUTLET) {
+        double dp_dy = (f.pp[cell3(g, k, 0, i)] - 0.0) / (0.5 * g.dy);
+        f.v[t] = f.vs[t] - c * dp_dy;
+    } else if (j == g.ny && g.by1 == SIDE_OUTLET) {
+        double dp_dy = (0.0 - f.pp[cell3(g, k, g.ny - 1, i)]) / (0.5 * g.dy);
+        f.v[t] = f.vs[t] - c * dp_dy;
+    }
+}
+
+extern "C" __global__ void p3_correct_w(P3Params g, P3Ptrs f)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    if (t >= g.nx * g.ny * (g.nz + 1)) return;
+    int i = t % g.nx; int j = (t / g.nx) % g.ny; int k = t / (g.nx * g.ny);
+    double c = g.dt / g.rho;
+    if (g.periodic_z) {
+        if (k == g.nz) return;
+        int below = k > 0 ? k - 1 : g.nz - 1;
+        double dp_dz = (f.pp[cell3(g, k, j, i)] - f.pp[cell3(g, below, j, i)]) / g.dz;
+        f.w[t] = f.ws[t] - c * dp_dz;
+        return;
+    }
+    if (k >= 1 && k < g.nz) {
+        double dp_dz = (f.pp[cell3(g, k, j, i)] - f.pp[cell3(g, k - 1, j, i)]) / g.dz;
+        f.w[t] = f.ws[t] - c * dp_dz;
+    } else if (k == 0 && g.bz0 == SIDE_OUTLET) {
+        double dp_dz = (f.pp[cell3(g, 0, j, i)] - 0.0) / (0.5 * g.dz);
+        f.w[t] = f.ws[t] - c * dp_dz;
+    } else if (k == g.nz && g.bz1 == SIDE_OUTLET) {
+        double dp_dz = (0.0 - f.pp[cell3(g, g.nz - 1, j, i)]) / (0.5 * g.dz);
+        f.w[t] = f.ws[t] - c * dp_dz;
+    }
+}
+
+/* p += p'; partial[block] = Σ |mass imbalance| of the corrected field. */
+extern "C" __global__ void p3_add_p_and_imbalance(P3Params g, P3Ptrs f, double* __restrict__ partial)
+{
+    int t = blockIdx.x * blockDim.x + threadIdx.x;
+    int total = g.nx * g.ny * g.nz;
+    double v = 0.0;
+    if (t < total) {
+        int i = t % g.nx; int j = (t / g.nx) % g.ny; int k = t / (g.nx * g.ny);
+        f.p[t] += f.pp[t];
+        double divergence_flux = g.rho
+            * ((f.u[uf3(g, k, j, i + 1)] - f.u[uf3(g, k, j, i)]) * (g.dy * g.dz)
+               + (f.v[vf3(g, k, j + 1, i)] - f.v[vf3(g, k, j, i)]) * (g.dx * g.dz)
+               + (f.w[wf3(g, k + 1, j, i)] - f.w[wf3(g, k, j, i)]) * (g.dx * g.dy));
+        v = fabs(divergence_flux);
+    }
+    __shared__ double sh[256];
+    sh[threadIdx.x] = v;
+    __syncthreads();
+    for (int s = 128; s > 0; s >>= 1) { if (threadIdx.x < s) sh[threadIdx.x] += sh[threadIdx.x + s]; __syncthreads(); }
+    if (threadIdx.x == 0) partial[blockIdx.x] = sh[0];
+}
+
+/* Σ partial in index order (one thread) — the fixed-order final sum. */
+extern "C" __global__ void p3_reduce(int n, const double* __restrict__ partial, double* __restrict__ out)
+{
+    if (blockIdx.x * blockDim.x + threadIdx.x != 0) return;
+    double s = 0.0;
+    for (int i = 0; i < n; ++i) s += partial[i];
+    out[0] = s;
+}

crates/specialized/rtx-cfd/src/solvers/incompressible/three_d/mod.rs

@@ -8,6 +8,8 @@
 //! Layout: cells are `(k, j, i)` row-major, `cell = (k * ny + j) * nx + i`.
 
 pub mod flow_field;
+#[cfg(feature = "cuda")]
+pub mod piso_device;
 pub mod piso_host;
 mod piso_predictor;
 pub mod poisson;

crates/specialized/rtx-cfd/src/solvers/incompressible/three_d/piso_device.rs

@@ -0,0 +1,580 @@
+//! Item 5: the PISO step device-resident (`piso3.cu` + the device CG). The
+//! fields live on the device; the host holds the solver's parameters and
+//! functions, evaluates the boundary tables per step (kB) and the steady
+//! momentum source once, and reads back scalars. `download` mirrors the
+//! fields into a `FlowField3D` at instants. Compiled with FMA contraction
+//! off so the predictors are the host's arithmetic to the bit.
+
+use super::Grid3;
+use super::flow_field::FlowField3D;
+use super::piso_host::{Piso3Result, Piso3Solver, SideBoundary3};
+use super::poisson::device::runtime3;
+use super::poisson::device_cg::DeviceCg3;
+use crate::solvers::incompressible::poisson::MultigridParameters;
+use crate::solvers::incompressible::simple::ConvectionScheme;
+use cudarc::driver::{
+    CudaFunction, CudaModule, CudaSlice, DevicePtr, DeviceRepr, LaunchConfig, PushKernelArg,
+    ValidAsZeroBits,
+};
+use cudarc::nvrtc::{CompileOptions, compile_ptx_with_opts};
+use std::sync::{Arc, OnceLock};
+use std::time::Instant;
+
+const KERNELS: &str = include_str!("../../../kernels/cuda/piso3.cu");
+
+struct Kernels {
+    _module: Arc<CudaModule>,
+    predict_u: CudaFunction,
+    predict_v: CudaFunction,
+    predict_w: CudaFunction,
+    sides_x: CudaFunction,
+    sides_y: CudaFunction,
+    sides_z: CudaFunction,
+    divergence: CudaFunction,
+    correct_u: CudaFunction,
+    correct_v: CudaFunction,
+    correct_w: CudaFunction,
+    add_p: CudaFunction,
+    reduce: CudaFunction,
+}
+
+static KERNELS_ONCE: OnceLock<Kernels> = OnceLock::new();
+
+fn kernels() -> &'static Kernels {
+    KERNELS_ONCE.get_or_init(|| {
+        let rt = runtime3();
+        let arch = std::env::var("RTX_CUDA_ARCH").unwrap_or_else(|_| "sm_120".to_string());
+        let ptx = compile_ptx_with_opts(
+            KERNELS,
+            CompileOptions {
+                arch: Some(Box::leak(arch.into_boxed_str())),
+                // The host's f64 arithmetic: no fused multiply-add.
+                options: vec!["--fmad=false".to_string()],
+                ..Default::default()
+            },
+        )
+        .expect("nvrtc: piso3.cu");
+        let module = rt.ctx.load_module(ptx).expect("piso3 module");
+        let f = |name: &str| module.load_function(name).expect(name);
+        Kernels {
+            predict_u: f("p3_predict_u"),
+            predict_v: f("p3_predict_v"),
+            predict_w: f("p3_predict_w"),
+            sides_x: f("p3_sides_x"),
+            sides_y: f("p3_sides_y"),
+            sides_z: f("p3_sides_z"),
+            divergence: f("p3_divergence"),
+            correct_u: f("p3_correct_u"),
+            correct_v: f("p3_correct_v"),
+            correct_w: f("p3_correct_w"),
+            add_p: f("p3_add_p_and_imbalance"),
+            reduce: f("p3_reduce"),
+            _module: module,
+        }
+    })
+}
+
+/// `struct P3Params` in piso3.cu.
+#[repr(C)]
+#[derive(Clone, Copy)]
+struct P3Params {
+    nx: i32,
+    ny: i32,
+    nz: i32,
+    periodic_z: i32,
+    bx0: i32,
+    bx1: i32,
+    by0: i32,
+    by1: i32,
+    bz0: i32,
+    bz1: i32,
+    scheme: i32,
+    pad: i32,
+    dx: f64,
+    dy: f64,
+    dz: f64,
+    dt: f64,
+    rho: f64,
+    nu: f64,
+}
+unsafe impl DeviceRepr for P3Params {}
+unsafe impl ValidAsZeroBits for P3Params {}
+
+/// `struct P3Ptrs` in piso3.cu: 33 device pointers.
+#[repr(C)]
+#[derive(Clone, Copy)]
+struct P3Ptrs {
+    ptrs: [u64; 33],
+}
+unsafe impl DeviceRepr for P3Ptrs {}
+unsafe impl ValidAsZeroBits for P3Ptrs {}
+
+fn side_code(s: SideBoundary3) -> i32 {
+    match s {
+        SideBoundary3::Velocity => 0,
+        SideBoundary3::SlipWall => 1,
+        SideBoundary3::PressureOutlet => 2,
+        SideBoundary3::Periodic => 3,
+    }
+}
+
+fn scheme_code(s: ConvectionScheme) -> i32 {
+    match s {
+        ConvectionScheme::Upwind => 0,
+        ConvectionScheme::TvdVanAlbada => 1,
+        ConvectionScheme::TvdVanLeer => 2,
+    }
+}
+
+fn cfg(n_items: usize) -> LaunchConfig {
+    LaunchConfig {
+        grid_dim: ((n_items as u32).div_ceil(256).max(1), 1, 1),
+        block_dim: (256, 1, 1),
+        shared_mem_bytes: 0,
+    }
+}
+
+/// Step timers (`RTX_PROFILE`): nanoseconds per phase and the step count.
+#[derive(Debug, Clone, Copy, Default)]
+pub struct StepTimers3 {
+    pub predictor_ns: u64,
+    pub poisson_ns: u64,
+    pub apply_ns: u64,
+    pub transfer_ns: u64,
+    pub steps: u64,
+    pub cg_iterations: u64,
+}
+
+pub struct Piso3Device {
+    pub solver: Piso3Solver,
+    grid: Grid3,
+    u: CudaSlice<f64>,
+    v: CudaSlice<f64>,
+    w: CudaSlice<f64>,
+    p: CudaSlice<f64>,
+    u_old: CudaSlice<f64>,
+    v_old: CudaSlice<f64>,
+    w_old: CudaSlice<f64>,
+    u_star: CudaSlice<f64>,
+    v_star: CudaSlice<f64>,
+    w_star: CudaSlice<f64>,
+    p_prime: CudaSlice<f64>,
+    sp: CudaSlice<f64>,
+    su: CudaSlice<f64>,
+    sv: CudaSlice<f64>,
+    sw: CudaSlice<f64>,
+    tables: Vec<CudaSlice<f64>>,
+    partial: CudaSlice<f64>,
+    scalar: CudaSlice<f64>,
+    n_blocks: usize,
+    cg: Option<DeviceCg3>,
+    cg_dt: f64,
+    timers: Option<StepTimers3>,
+    initialized: bool,
+}
+
+impl Piso3Device {
+    /// Allocates the device fields for `grid`; the momentum source is
+    /// tabulated at `t = 0` (steady sources only in Stage 1).
+    pub fn new(solver: Piso3Solver, grid: Grid3) -> Self {
+        let rt = runtime3();
+        let nu = (grid.nx + 1) * grid.ny * grid.nz;
+        let nv = grid.nx * (grid.ny + 1) * grid.nz;
+        let nw = grid.nx * grid.ny * (grid.nz + 1);
+        let nc = grid.cells();
+        let zeros = |n: usize| rt.stream.alloc_zeros::<f64>(n).expect("alloc");
+        let (su, sv, sw) = solver.source_tables(grid, 0.0);
+        let up = |v: &Vec<f64>| -> CudaSlice<f64> {
+            rt.stream
+                .memcpy_stod(if v.is_empty() { &[0.0f64][..] } else { v })
+                .expect("upload")
+        };
+        let tables: Vec<CudaSlice<f64>> = solver
+            .boundary_tables(grid, 0.0)
+            .iter()
+            .flat_map(|side| side.iter().map(up).collect::<Vec<_>>())
+            .collect();
+        let n_blocks = nc.div_ceil(256).max(1);
+        let timers = std::env::var("RTX_PROFILE")
+            .is_ok()
+            .then(StepTimers3::default);
+        Self {
+            solver,
+            grid,
+            u: zeros(nu),
+            v: zeros(nv),
+            w: zeros(nw),
+            p: zeros(nc),
+            u_old: zeros(nu),
+            v_old: zeros(nv),
+            w_old: zeros(nw),
+            u_star: zeros(nu),
+            v_star: zeros(nv),
+            w_star: zeros(nw),
+            p_prime: zeros(nc),
+            sp: zeros(nc),
+            su: up(&su),
+            sv: up(&sv),
+            sw: up(&sw),
+            tables,
+            partial: zeros(n_blocks),
+            scalar: zeros(1),
+            n_blocks,
+            cg: None,
+            cg_dt: 0.0,
+            timers,
+            initialized: false,
+        }
+    }
+
+    pub fn timers(&self) -> Option<StepTimers3> {
+        self.timers
+    }
+
+    pub fn grid(&self) -> Grid3 {
+        self.grid
+    }
+
+    /// The host field onto the device (u, v, w, p; p' too for a warm start).
+    pub fn upload(&mut self, field: &FlowField3D) {
+        let rt = runtime3();
+        assert_eq!(field.grid, self.grid);
+        rt.stream.memcpy_htod(&field.u, &mut self.u).expect("u");
+        rt.stream.memcpy_htod(&field.v, &mut self.v).expect("v");
+        rt.stream.memcpy_htod(&field.w, &mut self.w).expect("w");
+        rt.stream.memcpy_htod(&field.p, &mut self.p).expect("p");
+        rt.stream
+            .memcpy_htod(&field.p_prime, &mut self.p_prime)
+            .expect("p'");
+        rt.stream.synchronize().expect("sync");
+    }
+
+    /// The device field into the host mirror.
+    pub fn download(&self, field: &mut FlowField3D) {
+        let rt = runtime3();
+        assert_eq!(field.grid, self.grid);
+        rt.stream.memcpy_dtoh(&self.u, &mut field.u).expect("u");
+        rt.stream.memcpy_dtoh(&self.v, &mut field.v).expect("v");
+        rt.stream.memcpy_dtoh(&self.w, &mut field.w).expect("w");
+        rt.stream.memcpy_dtoh(&self.p, &mut field.p).expect("p");
+        rt.stream
+            .memcpy_dtoh(&self.p_prime, &mut field.p_prime)
+            .expect("p'");
+        rt.stream.memcpy_dtoh(&self.sp, &mut field.sp).expect("sp");
+        rt.stream.synchronize().expect("sync");
+    }
+
+    fn params(&self, dt: f64) -> P3Params {
+        let g = self.grid;
+        let b = self.solver.params.boundaries;
+        P3Params {
+            nx: g.nx as i32,
+            ny: g.ny as i32,
+            nz: g.nz as i32,
+            periodic_z: i32::from(b.z0 == SideBoundary3::Periodic),
+            bx0: side_code(b.x0),
+            bx1: side_code(b.x1),
+            by0: side_code(b.y0),
+            by1: side_code(b.y1),
+            bz0: side_code(b.z0),
+            bz1: side_code(b.z1),
+            scheme: scheme_code(self.solver.params.convection_scheme),
+            pad: 0,
+            dx: g.dx,
+            dy: g.dy,
+            dz: g.dz,
+            dt,
+            rho: self.solver.fluid.density,
+            nu: self.solver.fluid.viscosity / self.solver.fluid.density,
+        }
+    }
+
+    fn ptrs(&self) -> P3Ptrs {
+        let rt = runtime3();
+        let s = &rt.stream;
+        let p = |x: &CudaSlice<f64>| x.device_ptr(s).0;
+        let mut ptrs = [0u64; 33];
+        let base = [
+            &self.u,
+            &self.v,
+            &self.w,
+            &self.p,
+            &self.u_old,
+            &self.v_old,
+            &self.w_old,
+            &self.u_star,
+            &self.v_star,
+            &self.w_star,
+            &self.p_prime,
+            &self.sp,
+            &self.su,
+            &self.sv,
+            &self.sw,
+        ];
+        for (k, b) in base.iter().enumerate() {
+            ptrs[k] = p(b);
+        }
+        for (k, t) in self.tables.iter().enumerate() {
+            ptrs[15 + k] = p(t);
+        }
+        P3Ptrs { ptrs }
+    }
+
+    fn upload_tables(&mut self, t: f64) {
+        let rt = runtime3();
+        let host = self.solver.boundary_tables(self.grid, t);
+        let mut k = 0;
+        for side in &host {
+            for comp in side {
+                if !comp.is_empty() {
+                    rt.stream
+                        .memcpy_htod(comp, &mut self.tables[k])
+                        .expect("table");
+                }
+                k += 1;
+            }
+        }
+    }
+
+    fn reduce(&mut self) -> f64 {
+        let rt = runtime3();
+        let k = kernels();
+        let nb = self.n_blocks as i32;
+        unsafe {
+            rt.stream
+                .launch_builder(&k.reduce)
+                .arg(&nb)
+                .arg(&self.partial)
+                .arg(&mut self.scalar)
+                .launch(LaunchConfig {
+                    grid_dim: (1, 1, 1),
+                    block_dim: (32, 1, 1),
+                    shared_mem_bytes: 0,
+                })
+                .expect("p3_reduce");
+        }
+        let mut one = vec![0.0f64];
+        rt.stream
+            .memcpy_dtoh(&self.scalar, &mut one)
+            .expect("scalar");
+        rt.stream.synchronize().expect("sync");
+        one[0]
+    }
+
+    fn launch_sides(&self, prm: P3Params, ptrs: P3Ptrs, stamp: i32) {
+        let rt = runtime3();
+        let k = kernels();
+        let g = self.grid;
+        unsafe {
+            rt.stream
+                .launch_builder(&k.sides_x)
+                .arg(&prm)
+                .arg(&ptrs)
+                .arg(&stamp)
+                .launch(cfg(g.ny * g.nz))
+                .expect("sides_x");
+            rt.stream
+                .launch_builder(&k.sides_y)
+                .arg(&prm)
+                .arg(&ptrs)
+                .arg(&stamp)
+                .launch(cfg(g.nx * g.nz))
+                .expect("sides_y");
+            rt.stream
+                .launch_builder(&k.sides_z)
+                .arg(&prm)
+                .arg(&ptrs)
+                .arg(&stamp)
+                .launch(cfg(g.nx * g.ny))
+                .expect("sides_z");
+        }
+    }
+
+    /// Stamp the `t = time` boundary data (lazily by the first step).
+    pub fn initialize(&mut self) {
+        let t = self.solver.time();
+        self.upload_tables(t);
+        let prm = self.params(1.0);
+        let ptrs = self.ptrs();
+        self.launch_sides(prm, ptrs, 1);
+        self.initialized = true;
+    }
+
+    /// One step of `dt` on the device.
+    pub fn advance(&mut self, dt: f64) -> Piso3Result {
+        assert!(dt > 0.0 && dt.is_finite());
+        if !self.initialized {
+            self.initialize();
+        }
+        let rt = runtime3();
+        let k = kernels();
+        let g = self.grid;
+        let t_old = self.solver.time();
+        let t_new = t_old + dt;
+        let t0 = Instant::now();
+        // History shift.
+        rt.stream
+            .memcpy_dtod(&self.u, &mut self.u_old)
+            .expect("u_old");
+        rt.stream
+            .memcpy_dtod(&self.v, &mut self.v_old)
+            .expect("v_old");
+        rt.stream
+            .memcpy_dtod(&self.w, &mut self.w_old)
+            .expect("w_old");
+        // Predictor with the t_old tables.
+        self.upload_tables(t_old);
+        let prm = self.params(dt);
+        let ptrs = self.ptrs();
+        let nu = (g.nx + 1) * g.ny * g.nz;
+        let nv = g.nx * (g.ny + 1) * g.nz;
+        let nw = g.nx * g.ny * (g.nz + 1);
+        unsafe {
+            rt.stream
+                .launch_builder(&k.predict_u)
+                .arg(&prm)
+                .arg(&ptrs)
+                .launch(cfg(nu))
+                .expect("predict_u");
+            rt.stream
+                .launch_builder(&k.predict_v)
+                .arg(&prm)
+                .arg(&ptrs)
+                .launch(cfg(nv))
+                .expect("predict_v");
+            rt.stream
+                .launch_builder(&k.predict_w)
+                .arg(&prm)
+                .arg(&ptrs)
+                .launch(cfg(nw))
+                .expect("predict_w");
+        }
+        // Outlet zero-gradient + periodic copy (no stamping), then u* = u.
+        self.launch_sides(prm, ptrs, 0);
+        // The new interval's boundary data.
+        self.upload_tables(t_new);
+        self.launch_sides(prm, ptrs, 1);
+        rt.stream
+            .memcpy_dtod(&self.u, &mut self.u_star)
+            .expect("u*");
+        rt.stream
+            .memcpy_dtod(&self.v, &mut self.v_star)
+            .expect("v*");
+        rt.stream
+            .memcpy_dtod(&self.w, &mut self.w_star)
+            .expect("w*");
+        rt.stream.synchronize().expect("sync");
+        let t_pred = t0.elapsed();
+        // The operator (a cache keyed on dt; no body: constant otherwise).
+        let t1 = Instant::now();
+        if self.cg.is_none() || self.cg_dt != dt {
+            let problem = self.solver.poisson_operator(g, dt);
+            let params = MultigridParameters {
+                precision: self.solver.params.poisson_precision,
+                smoother: self.solver.params.poisson_smoother,
+                ..MultigridParameters::default()
+            };
+            self.cg = Some(DeviceCg3::new(&problem, &params));
+            self.cg_dt = dt;
+        }
+        let anchor = self.solver.anchor_cell(g);
+        let mut total = 0;
+        let mut final_residual = f64::INFINITY;
+        let mut cg_iterations = 0;
+        let mut t_poisson = std::time::Duration::ZERO;
+        let mut t_apply = std::time::Duration::ZERO;
+        for corrector in 0..self.solver.params.corrector_steps.max(1) {
+            let tp = Instant::now();
+            unsafe {
+                rt.stream
+                    .launch_builder(&k.divergence)
+                    .arg(&prm)
+                    .arg(&ptrs)
+                    .arg(&mut self.partial)
+                    .launch(cfg(g.cells()))
+                    .expect("divergence");
+            }
+            let source_scale = self.reduce();
+            let inner_stop = self.solver.inner_stop(g, source_scale);
+            if corrector > 0 {
+                rt.stream.memset_zeros(&mut self.p_prime).expect("p' = 0");
+            }
+            let sol = {
+                let cg = self.cg.as_mut().expect("cg");
+                cg.solve_device(&self.sp, &mut self.p_prime, inner_stop, anchor, 0)
+            };
+            cg_iterations += sol.iterations;
+            t_poisson += tp.elapsed();
+            let ta = Instant::now();
+            unsafe {
+                rt.stream
+                    .launch_builder(&k.correct_u)
+                    .arg(&prm)
+                    .arg(&ptrs)
+                    .launch(cfg(nu))
+                    .expect("correct_u");
+                rt.stream
+                    .launch_builder(&k.correct_v)
+                    .arg(&prm)
+                    .arg(&ptrs)
+                    .launch(cfg(nv))
+                    .expect("correct_v");
+                rt.stream
+                    .launch_builder(&k.correct_w)
+                    .arg(&prm)
+                    .arg(&ptrs)
+                    .launch(cfg(nw))
+                    .expect("correct_w");
+            }
+            if prm.periodic_z != 0 {
+                self.launch_sides(prm, ptrs, 0);
+            }
+            unsafe {
+                rt.stream
+                    .launch_builder(&k.add_p)
+                    .arg(&prm)
+                    .arg(&ptrs)
+                    .arg(&mut self.partial)
+                    .launch(cfg(g.cells()))
+                    .expect("add_p");
+            }
+            let imbalance = self.reduce();
+            let reference_flux = self.solver.reference_flux(g);
+            let mass_residual = if reference_flux > 0.0 {
+                imbalance / reference_flux
+            } else {
+                imbalance
+            };
+            final_residual = mass_residual;
+            total += 1;
+            t_apply += ta.elapsed();
+            if mass_residual < self.solver.params.tolerance {
+                break;
+            }
+            rt.stream
+                .memcpy_dtod(&self.u, &mut self.u_star)
+                .expect("u*");
+            rt.stream
+                .memcpy_dtod(&self.v, &mut self.v_star)
+                .expect("v*");
+            rt.stream
+                .memcpy_dtod(&self.w, &mut self.w_star)
+                .expect("w*");
+        }
+        let _ = t1;
+        self.solver.set_time(t_new);
+        if let Some(tm) = self.timers.as_mut() {
+            tm.predictor_ns += t_pred.as_nanos() as u64;
+            tm.poisson_ns += t_poisson.as_nanos() as u64;
+            tm.apply_ns += t_apply.as_nanos() as u64;
+            tm.steps += 1;
+            tm.cg_iterations += cg_iterations as u64;
+        }
+        Piso3Result {
+            converged: final_residual < self.solver.params.tolerance,
+            corrector_steps_performed: total,
+            final_residual,
+            poisson_iterations: cg_iterations,
+        }
+    }
+}

crates/specialized/rtx-cfd/src/solvers/incompressible/three_d/piso_host.rs

@@ -315,12 +315,11 @@ impl Piso3Solver {
         field.copy_to_starred();
     }
 
-    /// The pressure-correction system (the 2D `poisson_problem` with the z
+    /// The pressure-correction OPERATOR (the 2D `poisson_problem` with the z
     /// faces): coefficient `dt · A / δ` across every fluid interior face,
     /// zero across prescribed ones, the outlet's Dirichlet half a cell out
-    /// as `extra_diag`, the mass imbalance as the right-hand side.
+    /// as `extra_diag`; the right-hand side left zero.
-    pub(crate) fn poisson_problem(&self, field: &FlowField3D, dt: f64) -> PoissonProblem3D {
+    pub(crate) fn poisson_operator(&self, g: Grid3, dt: f64) -> PoissonProblem3D {
-        let g = field.grid;
         let (nx, ny, nz, dx, dy, dz) = (g.nx, g.ny, g.nz, g.dx, g.dy, g.dz);
         let b = self.params.boundaries;
         let outlet = SideBoundary3::PressureOutlet;
@@ -385,14 +384,155 @@ impl Piso3Solver {
                         problem.ab[idx] = at_interior;
                     }
                     problem.extra_diag[idx] = extra;
-                    problem.rhs[idx] = field.sp[idx];
                 }
             }
         }
         problem
     }
 
-    fn reference_flux(&self, g: Grid3) -> f64 {
+    /// The operator with `field.sp` as the right-hand side.
+    pub(crate) fn poisson_problem(&self, field: &FlowField3D, dt: f64) -> PoissonProblem3D {
+        let mut problem = self.poisson_operator(field.grid, dt);
+        problem.rhs.copy_from_slice(&field.sp);
+        problem
+    }
+
+    /// The anchor cell of a pure-Neumann projection (the first fluid cell,
+    /// the 2D `(1, 1)` at `k = 0`), or `None` with an outlet.
+    pub(crate) fn anchor_cell(&self, g: Grid3) -> Option<usize> {
+        (!self.params.boundaries.any_outlet()).then_some(g.cell(0, 1, 1))
+    }
+
+    /// The inner stop of a projection from the source scale (the 2D rule).
+    pub(crate) fn inner_stop(&self, g: Grid3, source_scale: f64) -> f64 {
+        (self.params.inner_stop_factor * source_scale)
+            .max(0.1 * self.params.tolerance * self.reference_flux(g))
+            + 1e-14
+    }
+
+    /// The boundary function on the six sides at every point a predictor or
+    /// the stamping reads (`[side][component]`, see the device driver):
+    /// x sides: u at `(k, j)`, v at `(k, j = 0..=ny)`, w at `(k = 0..=nz, j)`;
+    /// y sides: u at `(k, i = 0..=nx)`, v at `(k, i)`, w at `(k = 0..=nz, i)`;
+    /// z sides: u at `(j, i = 0..=nx)`, v at `(j = 0..=ny, i)`, w at `(j, i)`.
+    #[allow(clippy::type_complexity)]
+    pub fn boundary_tables(&self, g: Grid3, t: f64) -> [[Vec<f64>; 3]; 6] {
+        let (nx, ny, nz, dx, dy, dz) = (g.nx, g.ny, g.nz, g.dx, g.dy, g.dz);
+        let xc = |i: usize| (i as f64 + 0.5) * dx;
+        let yc = |j: usize| (j as f64 + 0.5) * dy;
+        let zc = |k: usize| (k as f64 + 0.5) * dz;
+        let mut out: [[Vec<f64>; 3]; 6] = Default::default();
+        for (s, x) in [(0usize, 0.0), (1, nx as f64 * dx)] {
+            let mut u = vec![0.0; ny * nz];
+            let mut v = vec![0.0; (ny + 1) * nz];
+            let mut w = vec![0.0; ny * (nz + 1)];
+            for k in 0..nz {
+                for j in 0..ny {
+                    u[k * ny + j] = self.boundary(x, yc(j), zc(k), t).0;
+                }
+                for j in 0..=ny {
+                    v[k * (ny + 1) + j] = self.boundary(x, j as f64 * dy, zc(k), t).1;
+                }
+            }
+            for k in 0..=nz {
+                for j in 0..ny {
+                    w[k * ny + j] = self.boundary(x, yc(j), k as f64 * dz, t).2;
+                }
+            }
+            out[s] = [u, v, w];
+        }
+        for (s, y) in [(2usize, 0.0), (3, ny as f64 * dy)] {
+            let mut u = vec![0.0; (nx + 1) * nz];
+            let mut v = vec![0.0; nx * nz];
+            let mut w = vec![0.0; nx * (nz + 1)];
+            for k in 0..nz {
+                for i in 0..=nx {
+                    u[k * (nx + 1) + i] = self.boundary(i as f64 * dx, y, zc(k), t).0;
+                }
+                for i in 0..nx {
+                    v[k * nx + i] = self.boundary(xc(i), y, zc(k), t).1;
+                }
+            }
+            for k in 0..=nz {
+                for i in 0..nx {
+                    w[k * nx + i] = self.boundary(xc(i), y, k as f64 * dz, t).2;
+                }
+            }
+            out[s] = [u, v, w];
+        }
+        for (s, z) in [(4usize, 0.0), (5, nz as f64 * dz)] {
+            let mut u = vec![0.0; (nx + 1) * ny];
+            let mut v = vec![0.0; nx * (ny + 1)];
+            let mut w = vec![0.0; nx * ny];
+            for j in 0..ny {
+                for i in 0..=nx {
+                    u[j * (nx + 1) + i] = self.boundary(i as f64 * dx, yc(j), z, t).0;
+                }
+                for i in 0..nx {
+                    w[j * nx + i] = self.boundary(xc(i), yc(j), z, t).2;
+                }
+            }
+            for j in 0..=ny {
+                for i in 0..nx {
+                    v[j * nx + i] = self.boundary(xc(i), j as f64 * dy, z, t).1;
+                }
+            }
+            out[s] = [u, v, w];
+        }
+        out
+    }
+
+    /// The momentum source at every u, v, w face at time `t`.
+    pub fn source_tables(&self, g: Grid3, t: f64) -> (Vec<f64>, Vec<f64>, Vec<f64>) {
+        let (nx, ny, nz, dx, dy, dz) = (g.nx, g.ny, g.nz, g.dx, g.dy, g.dz);
+        let mut su = vec![0.0; (nx + 1) * ny * nz];
+        let mut sv = vec![0.0; nx * (ny + 1) * nz];
+        let mut sw = vec![0.0; nx * ny * (nz + 1)];
+        if let Some(f) = self.momentum_source.as_ref() {
+            for k in 0..nz {
+                for j in 0..ny {
+                    for i in 0..=nx {
+                        su[g.uface(k, j, i)] = f(
+                            i as f64 * dx,
+                            (j as f64 + 0.5) * dy,
+                            (k as f64 + 0.5) * dz,
+                            t,
+                        )
+                        .0;
+                    }
+                }
+            }
+            for k in 0..nz {
+                for j in 0..=ny {
+                    for i in 0..nx {
+                        sv[g.vface(k, j, i)] = f(
+                            (i as f64 + 0.5) * dx,
+                            j as f64 * dy,
+                            (k as f64 + 0.5) * dz,
+                            t,
+                        )
+                        .1;
+                    }
+                }
+            }
+            for k in 0..=nz {
+                for j in 0..ny {
+                    for i in 0..nx {
+                        sw[g.wface(k, j, i)] = f(
+                            (i as f64 + 0.5) * dx,
+                            (j as f64 + 0.5) * dy,
+                            k as f64 * dz,
+                            t,
+                        )
+                        .2;
+                    }
+                }
+            }
+        }
+        (su, sv, sw)
+    }
+
+    pub(crate) fn reference_flux(&self, g: Grid3) -> f64 {
         self.fluid.density
             * self.fluid.reference_velocity
             * self.fluid.reference_length
@@ -409,8 +549,6 @@ impl Piso3Solver {
         let g = field.grid;
         let (nx, ny, nz, dx, dy, dz) = (g.nx, g.ny, g.nz, g.dx, g.dy, g.dz);
         let rho = self.fluid.density;
-        let b = self.params.boundaries;
-        let any_outlet = b.any_outlet();
         let mut source_scale = 0.0;
         for k in 0..nz {
             for j in 0..ny {
@@ -434,10 +572,7 @@ impl Piso3Solver {
                 }
             }
         }
-        let reference_flux = self.reference_flux(g);
+        let inner_stop = self.inner_stop(g, source_scale);
-        let inner_stop = (self.params.inner_stop_factor * source_scale)
-            .max(0.1 * self.params.tolerance * reference_flux)
-            + 1e-14;
         let problem = self.poisson_problem(field, dt);
         let mut p_prime = vec![0.0; g.cells()];
         if warm_start {
@@ -452,8 +587,7 @@ impl Piso3Solver {
                 }
             }
         }
-        // The anchor: the first fluid cell (the 2D `(1, 1)` at k = 0).
+        let anchor_cell = self.anchor_cell(g);
-        let anchor_cell = (!any_outlet).then_some(g.cell(0, 1, 1));
         let params = MultigridParameters {
             precision: self.params.poisson_precision,
             smoother: self.params.poisson_smoother,

crates/specialized/rtx-cfd/tests/three_d_device_step.rs

@@ -0,0 +1,561 @@
+//! 3D Stage 1, gates 4–6 on the DEVICE: the device-resident step against
+//! the host step from the same start — the manufactured problem (upwind
+//! and TVD), Beltrami with time-dependent boundary data, and Poiseuille
+//! at nz = 1 and on the periodic extrusion (plane agreement). The
+//! predictors are compiled without FMA contraction, so the only difference
+//! from the host is the CG's reduction order: agreement to 1e-12 relative.
+//!
+//! `RTX_CUDA_ARCH=sm_120 cargo test --release -p rtx-cfd --features cuda --test three_d_device_step -- --nocapture`
+#![cfg(feature = "cuda")]
+
+use rtx_cfd::solvers::incompressible::three_d::piso_device::Piso3Device;
+use rtx_cfd::solvers::incompressible::three_d::{
+    Boundaries3, FlowField3D, Fluid3, Grid3, Piso3Parameters, Piso3Solver, SideBoundary3,
+};
+use rtx_cfd::solvers::incompressible::{ConvectionScheme, MgSmoother};
+use std::f64::consts::PI;
+
+const RHO: f64 = 1.0;
+
+fn fluid(mu: f64) -> Fluid3 {
+    Fluid3 {
+        density: RHO,
+        viscosity: mu,
+        reference_velocity: 1.0,
+        reference_length: 1.0,
+    }
+}
+
+/// `tight` = the identity configuration: inner stop 1e-6 of the source
+/// scale AND mass tolerance 1e-12 (its 0.1× floor on the inner stop is
+/// what dominates near a steady state); otherwise the defaults.
+fn params(scheme: ConvectionScheme, z: SideBoundary3, tight: bool) -> Piso3Parameters {
+    Piso3Parameters {
+        corrector_steps: 2,
+        tolerance: if tight { 1e-12 } else { 1e-8 },
+        inner_stop_factor: if tight { 1e-6 } else { 1e-2 },
+        boundaries: Boundaries3 {
+            z0: z,
+            z1: z,
+            ..Boundaries3::default()
+        },
+        // The device V-cycle is red-black; the host uses the same so the
+        // preconditioners match.
+        poisson_smoother: MgSmoother::RedBlack,
+        convection_scheme: scheme,
+        ..Piso3Parameters::default()
+    }
+}
+
+/// Max |Δ| over u, v, w between two fields on the velocity scale, and max
+/// |Δp| on the pressure scale floored at the dynamic pressure `ρ U²` (a
+/// flat pressure field must not inflate a rounding-level difference).
+fn compare(a: &FlowField3D, b: &FlowField3D) -> (f64, f64) {
+    let mut worst = 0.0_f64;
+    let mut scale = 0.0_f64;
+    for (x, y) in
+        a.u.iter()
+            .zip(&b.u)
+            .chain(a.v.iter().zip(&b.v))
+            .chain(a.w.iter().zip(&b.w))
+    {
+        worst = worst.max((x - y).abs());
+        scale = scale.max(x.abs());
+    }
+    let mut worst_p = 0.0_f64;
+    let mut scale_p = 0.0_f64;
+    for (x, y) in a.p.iter().zip(&b.p) {
+        worst_p = worst_p.max((x - y).abs());
+        scale_p = scale_p.max(x.abs());
+    }
+    let scale_p = scale_p.max(RHO * scale * scale);
+    // One number: the larger of the two relative differences, on the velocity scale.
+    (worst.max(worst_p / scale_p * scale), scale)
+}
+
+// ---- the manufactured solution of three_d_mms.rs ----
+fn u3(x: f64, y: f64, z: f64) -> f64 {
+    (PI * x).sin() * (PI * y).cos() * (PI * z).cos()
+}
+fn v3(x: f64, y: f64, z: f64) -> f64 {
+    (PI * x).cos() * (PI * y).sin() * (PI * z).cos()
+}
+fn w3(x: f64, y: f64, z: f64) -> f64 {
+    -2.0 * (PI * x).cos() * (PI * y).cos() * (PI * z).sin()
+}
+fn source3(mu: f64, x: f64, y: f64, z: f64) -> (f64, f64, f64) {
+    let (sx, cx) = (PI * x).sin_cos();
+    let (sy, cy) = (PI * y).sin_cos();
+    let (sz, cz) = (PI * z).sin_cos();
+    let (u, v, w) = (u3(x, y, z), v3(x, y, z), w3(x, y, z));
+    let (ux, uy, uz) = (PI * cx * cy * cz, -PI * sx * sy * cz, -PI * sx * cy * sz);
+    let (vx, vy, vz) = (-PI * sx * sy * cz, PI * cx * cy * cz, -PI * cx * sy * sz);
+    let (wx, wy, wz) = (
+        2.0 * PI * sx * cy * sz,
+        2.0 * PI * cx * sy * sz,
+        -2.0 * PI * cx * cy * cz,
+    );
+    let (px, py, pz) = (PI * cx * sy * sz, PI * sx * cy * sz, PI * sx * sy * cz);
+    let lap = -3.0 * PI * PI;
+    (
+        RHO * (u * ux + v * uy + w * uz) + px - mu * lap * u,
+        RHO * (u * vx + v * vy + w * vz) + py - mu * lap * v,
+        RHO * (u * wx + v * wy + w * wz) + pz - mu * lap * w,
+    )
+}
+fn boundary3(x: f64, y: f64, z: f64) -> (f64, f64, f64) {
+    let u = if x <= 0.0 || x >= 1.0 {
+        0.0
+    } else {
+        u3(x, y, z)
+    };
+    let v = if y <= 0.0 || y >= 1.0 {
+        0.0
+    } else {
+        v3(x, y, z)
+    };
+    let w = if z <= 0.0 || z >= 1.0 {
+        0.0
+    } else {
+        w3(x, y, z)
+    };
+    (u, v, w)
+}
+
+fn mms_pair(
+    n: usize,
+    scheme: ConvectionScheme,
+    isf: bool,
+) -> (Piso3Solver, Piso3Solver, Grid3, f64) {
+    let mu = 0.05;
+    let h = 1.0 / n as f64;
+    let dt = 0.4 * (h * h / (4.0 * mu / RHO)).min(h);
+    let mk = || {
+        let mut s = Piso3Solver::new(fluid(mu), params(scheme, SideBoundary3::Velocity, isf));
+        s.set_momentum_source(move |x, y, z, _t| source3(mu, x, y, z));
+        s.set_boundary_velocity(|x, y, z, _t| boundary3(x, y, z));
+        s
+    };
+    (
+        mk(),
+        mk(),
+        Grid3 {
+            nx: n,
+            ny: n,
+            nz: n,
+            dx: h,
+            dy: h,
+            dz: h,
+        },
+        dt,
+    )
+}
+
+fn run_pair(
+    host: Piso3Solver,
+    dev: Piso3Solver,
+    g: Grid3,
+    dt: f64,
+    steps: usize,
+    label: &str,
+) -> (f64, f64) {
+    let mut host = host;
+    let mut fh = FlowField3D::new(g);
+    let mut device = Piso3Device::new(dev, g);
+    device.upload(&fh);
+    let mut mismatched = 0usize;
+    for _ in 0..steps {
+        let rh = host.advance(&mut fh, dt);
+        let rd = device.advance(dt);
+        if rh.poisson_iterations != rd.poisson_iterations {
+            mismatched += 1;
+        }
+    }
+    let mut fd = FlowField3D::new(g);
+    device.download(&mut fd);
+    let (worst, scale) = compare(&fh, &fd);
+    println!(
+        "  {label}: {steps} steps, host vs device max |Δ| {worst:.3e} on a scale of {scale:.3e}; CG iteration counts differ on {mismatched} steps"
+    );
+    (worst, scale)
+}
+
+/// The CG's stop is a threshold on a reduction; host and device reduce in
+/// different orders, so on a marginal step one side takes one more
+/// iteration and the answers differ by the inner tolerance. The gate is
+/// therefore taken at a TIGHT inner stop (1e-6 of the source scale), where
+/// that flip cannot show above 1e-12; the default stop's difference is
+/// reported alongside.
+#[test]
+fn device_step_matches_the_host_step_on_the_manufactured_problem() {
+    for scheme in [ConvectionScheme::Upwind, ConvectionScheme::TvdVanAlbada] {
+        let (h, d, g, dt) = mms_pair(12, scheme, false);
+        run_pair(
+            h,
+            d,
+            g,
+            dt,
+            100,
+            &format!("MMS n 12 {scheme:?} (default tolerances)"),
+        );
+        let (h, d, g, dt) = mms_pair(12, scheme, true);
+        let (worst, scale) = run_pair(h, d, g, dt, 100, &format!("MMS n 12 {scheme:?} (tight)"));
+        assert!(
+            worst <= 1e-11 * scale,
+            "{scheme:?}: {worst:.3e} of {scale:.3e}"
+        );
+    }
+}
+
+// ---- Beltrami (three_d_beltrami.rs) ----
+const NU: f64 = 0.02;
+const A: f64 = PI / 4.0;
+const D: f64 = PI / 2.0;
+fn exact(x: f64, y: f64, z: f64, t: f64) -> (f64, f64, f64) {
+    let decay = (-D * D * NU * t).exp();
+    (
+        -A * ((A * x).exp() * (A * y + D * z).sin() + (A * z).exp() * (A * x + D * y).cos())
+            * decay,
+        -A * ((A * y).exp() * (A * z + D * x).sin() + (A * x).exp() * (A * y + D * z).cos())
+            * decay,
+        -A * ((A * z).exp() * (A * x + D * y).sin() + (A * y).exp() * (A * z + D * x).cos())
+            * decay,
+    )
+}
+
+#[test]
+fn device_step_matches_the_host_step_on_beltrami() {
+    let n = 16;
+    let h = 1.0 / n as f64;
+    let dt = 0.25 * h * h / (4.0 * NU);
+    let g = Grid3 {
+        nx: n,
+        ny: n,
+        nz: n,
+        dx: h,
+        dy: h,
+        dz: h,
+    };
+    for tight in [false, true] {
+        let mk = || {
+            let mut s = Piso3Solver::new(
+                fluid(NU * RHO),
+                params(ConvectionScheme::Upwind, SideBoundary3::Velocity, tight),
+            );
+            s.set_boundary_velocity(|x, y, z, t| exact(x, y, z, t));
+            s
+        };
+        let mut host = mk();
+        let mut fh = FlowField3D::new(g);
+        for k in 0..n {
+            for j in 0..n {
+                for i in 0..=n {
+                    fh.u[g.uface(k, j, i)] = exact(
+                        i as f64 * h,
+                        (j as f64 + 0.5) * h,
+                        (k as f64 + 0.5) * h,
+                        0.0,
+                    )
+                    .0;
+                }
+            }
+        }
+        for k in 0..n {
+            for j in 0..=n {
+                for i in 0..n {
+                    fh.v[g.vface(k, j, i)] = exact(
+                        (i as f64 + 0.5) * h,
+                        j as f64 * h,
+                        (k as f64 + 0.5) * h,
+                        0.0,
+                    )
+                    .1;
+                }
+            }
+        }
+        for k in 0..=n {
+            for j in 0..n {
+                for i in 0..n {
+                    fh.w[g.wface(k, j, i)] = exact(
+                        (i as f64 + 0.5) * h,
+                        (j as f64 + 0.5) * h,
+                        k as f64 * h,
+                        0.0,
+                    )
+                    .2;
+                }
+            }
+        }
+        let mut device = Piso3Device::new(mk(), g);
+        device.upload(&fh);
+        let mut mismatched = 0;
+        for _ in 0..40 {
+            let rh = host.advance(&mut fh, dt);
+            let rd = device.advance(dt);
+            if rh.poisson_iterations != rd.poisson_iterations {
+                mismatched += 1;
+            }
+        }
+        let mut fd = FlowField3D::new(g);
+        device.download(&mut fd);
+        let (worst, scale) = compare(&fh, &fd);
+        println!(
+            "  Beltrami n 16 (tight {tight}): 40 steps (time-dependent tables), host vs device max |Δ| {worst:.3e} on {scale:.3e}; CG counts differ on {mismatched} steps"
+        );
+        if tight {
+            assert!(worst <= 1e-11 * scale, "{worst:.3e} of {scale:.3e}");
+        }
+    }
+}
+
+// ---- Poiseuille (three_d_poiseuille_identity.rs) ----
+const MU_P: f64 = 0.1;
+const G: f64 = 0.8;
+fn discrete_profile(n: usize) -> Vec<f64> {
+    let h = 1.0 / n as f64;
+    let rhs_value = -G * h * h / MU_P;
+    let mut diag = vec![-2.0; n];
+    diag[0] = -3.0;
+    diag[n - 1] = -3.0;
+    let mut rhs = vec![rhs_value; n];
+    let upper = vec![1.0; n];
+    for j in 1..n {
+        let factor = 1.0 / diag[j - 1];
+        diag[j] -= factor * upper[j - 1];
+        rhs[j] -= factor * rhs[j - 1];
+    }
+    let mut u = vec![0.0; n];
+    u[n - 1] = rhs[n - 1] / diag[n - 1];
+    for j in (0..n - 1).rev() {
+        u[j] = (rhs[j] - upper[j] * u[j + 1]) / diag[j];
+    }
+    u
+}
+
+#[test]
+fn device_step_matches_the_host_step_on_poiseuille_and_is_z_invariant() {
+    let n = 16;
+    let h = 1.0 / n as f64;
+    let dt = 0.4 * (h * h / (4.0 * MU_P)).min(h);
+    for (nz, dz, z, tight) in [
+        (1usize, 1.0, SideBoundary3::SlipWall, false),
+        (1, 1.0, SideBoundary3::SlipWall, true),
+        (4, h, SideBoundary3::Periodic, true),
+    ] {
+        let g = Grid3 {
+            nx: n,
+            ny: n,
+            nz,
+            dx: h,
+            dy: h,
+            dz,
+        };
+        let mk = || {
+            let mut s = Piso3Solver::new(fluid(MU_P), params(ConvectionScheme::Upwind, z, tight));
+            s.set_momentum_source(|_x, _y, _z, _t| (G, 0.0, 0.0));
+            let u_hat = discrete_profile(n);
+            s.set_boundary_velocity(move |x, y, _z, _t| {
+                if x <= 0.0 || x >= 1.0 {
+                    let j = ((y / h - 0.5).round().max(0.0) as usize).min(n - 1);
+                    (u_hat[j], 0.0, 0.0)
+                } else {
+                    (0.0, 0.0, 0.0)
+                }
+            });
+            s
+        };
+        let mut host = mk();
+        let mut fh = FlowField3D::new(g);
+        let u_hat = discrete_profile(n);
+        for k in 0..nz {
+            for (j, &uj) in u_hat.iter().enumerate() {
+                fh.u[g.uface(k, j, 0)] = uj;
+                fh.u[g.uface(k, j, n)] = uj;
+            }
+        }
+        let mut device = Piso3Device::new(mk(), g);
+        device.upload(&fh);
+        let mut mismatched = 0;
+        for _ in 0..300 {
+            let rh = host.advance(&mut fh, dt);
+            let rd = device.advance(dt);
+            if rh.poisson_iterations != rd.poisson_iterations {
+                mismatched += 1;
+            }
+        }
+        let mut fd = FlowField3D::new(g);
+        device.download(&mut fd);
+        let (worst, scale) = compare(&fh, &fd);
+        println!(
+            "  Poiseuille n 16 nz {nz} (tight {tight}): 300 steps, host vs device max |Δ| {worst:.3e} on {scale:.3e}; CG counts differ on {mismatched} steps"
+        );
+        if tight {
+            assert!(
+                worst <= 1e-11 * scale,
+                "nz {nz}: {worst:.3e} of {scale:.3e}"
+            );
+        }
+        if nz > 1 {
+            let plane =
+                |f: &FlowField3D, k: usize| f.u[k * n * (n + 1)..(k + 1) * n * (n + 1)].to_vec();
+            let p0 = plane(&fd, 0);
+            let mut worst_plane = 0.0_f64;
+            for k in 1..nz {
+                for (a, b) in plane(&fd, k).iter().zip(&p0) {
+                    worst_plane = worst_plane.max((a - b).abs());
+                }
+            }
+            println!("  Poiseuille nz {nz}: device planes within {worst_plane:.3e} of {scale:.3e}");
+            assert!(worst_plane <= 1e-11 * scale);
+        }
+    }
+}
+
+/// Diagnostic: where and when the Poiseuille host/device difference enters.
+#[test]
+#[ignore = "diagnostic: per-component host/device differences on Poiseuille variants"]
+fn poiseuille_difference_diagnostic() {
+    let n = 16;
+    let h = 1.0 / n as f64;
+    let dt = 0.4 * (h * h / (4.0 * MU_P)).min(h);
+    for (label, dz, inlet, source) in [
+        ("as is (dz 1, inlet profile, source G)", 1.0, true, true),
+        ("dz = h", h, true, true),
+        ("closed box (no inlet), source G", 1.0, false, true),
+        ("inlet profile, no source", 1.0, true, false),
+    ] {
+        let g = Grid3 {
+            nx: n,
+            ny: n,
+            nz: 1,
+            dx: h,
+            dy: h,
+            dz,
+        };
+        let mk = || {
+            let mut s = Piso3Solver::new(
+                fluid(MU_P),
+                params(ConvectionScheme::Upwind, SideBoundary3::SlipWall, true),
+            );
+            if source {
+                s.set_momentum_source(|_x, _y, _z, _t| (G, 0.0, 0.0));
+            }
+            let u_hat = discrete_profile(n);
+            s.set_boundary_velocity(move |x, y, _z, _t| {
+                if inlet && (x <= 0.0 || x >= 1.0) {
+                    let j = ((y / h - 0.5).round().max(0.0) as usize).min(n - 1);
+                    (u_hat[j], 0.0, 0.0)
+                } else {
+                    (0.0, 0.0, 0.0)
+                }
+            });
+            s
+        };
+        let mut host = mk();
+        let mut fh = FlowField3D::new(g);
+        if inlet {
+            let u_hat = discrete_profile(n);
+            for (j, &uj) in u_hat.iter().enumerate() {
+                fh.u[g.uface(0, j, 0)] = uj;
+                fh.u[g.uface(0, j, n)] = uj;
+            }
+        }
+        let mut device = Piso3Device::new(mk(), g);
+        device.upload(&fh);
+        let mut fd = FlowField3D::new(g);
+        for step in 1..=300 {
+            let rh = host.advance(&mut fh, dt);
+            let rd = device.advance(dt);
+            if [1, 2, 10, 100, 300].contains(&step) {
+                device.download(&mut fd);
+                let du =
+                    fh.u.iter()
+                        .zip(&fd.u)
+                        .fold(0.0_f64, |m, (a, b)| m.max((a - b).abs()));
+                let dv =
+                    fh.v.iter()
+                        .zip(&fd.v)
+                        .fold(0.0_f64, |m, (a, b)| m.max((a - b).abs()));
+                let dp =
+                    fh.p.iter()
+                        .zip(&fd.p)
+                        .fold(0.0_f64, |m, (a, b)| m.max((a - b).abs()));
+                let dpp = fh
+                    .p_prime
+                    .iter()
+                    .zip(&fd.p_prime)
+                    .fold(0.0_f64, |m, (a, b)| m.max((a - b).abs()));
+                let dsp = fh
+                    .sp
+                    .iter()
+                    .zip(&fd.sp)
+                    .fold(0.0_f64, |m, (a, b)| m.max((a - b).abs()));
+                println!(
+                    "  {label} step {step}: Δu {du:.2e} Δv {dv:.2e} Δp {dp:.2e} Δp' {dpp:.2e} Δsp {dsp:.2e}; CG it host {} / dev {}; correctors {} / {}; residual {:.2e} / {:.2e}",
+                    rh.poisson_iterations,
+                    rd.poisson_iterations,
+                    rh.corrector_steps_performed,
+                    rd.corrector_steps_performed,
+                    rh.final_residual,
+                    rd.final_residual
+                );
+            }
+        }
+    }
+}
+
+/// The device step's cost at the anchor size (378 × 62 × 62, cubic cells,
+/// the manufactured source, red-black + device CG), `RTX_PROFILE=1` for the
+/// phase split. Recorded, not asserted.
+#[test]
+#[ignore = "bench: ms per device step at 378×62×62"]
+fn bench_device_step_anchor_size() {
+    let (nx, ny, nz) = (378usize, 62usize, 62usize);
+    let h = 0.41 / ny as f64;
+    let mu = 1.0e-3;
+    let g = Grid3 {
+        nx,
+        ny,
+        nz,
+        dx: h,
+        dy: h,
+        dz: h,
+    };
+    let dt = 0.4 * (h * h / (4.0 * mu / RHO)).min(h / 2.0);
+    let mut s = Piso3Solver::new(
+        fluid(mu),
+        params(
+            ConvectionScheme::TvdVanAlbada,
+            SideBoundary3::Velocity,
+            false,
+        ),
+    );
+    s.set_momentum_source(move |x, y, z, _t| source3(mu, x / 2.5, y / 0.41, z / 0.41));
+    s.set_boundary_velocity(|x, y, z, _t| boundary3(x / 2.5, y / 0.41, z / 0.41));
+    let mut device = Piso3Device::new(s, g);
+    let f = FlowField3D::new(g);
+    device.upload(&f);
+    device.advance(dt);
+    let t0 = std::time::Instant::now();
+    let steps = 20;
+    let mut it = 0;
+    for _ in 0..steps {
+        it += device.advance(dt).poisson_iterations;
+    }
+    let ms = t0.elapsed().as_secs_f64() * 1e3 / steps as f64;
+    println!(
+        "  device step at {nx}×{ny}×{nz} ({} cells): {ms:.1} ms per step, {:.1} CG iterations per step",
+        g.cells(),
+        it as f64 / steps as f64
+    );
+    if let Some(t) = device.timers() {
+        let n = t.steps.max(1) as f64;
+        println!(
+            "  split per step: predictor {:.1} ms, poisson {:.1} ms, apply {:.1} ms ({} steps timed)",
+            t.predictor_ns as f64 / n / 1e6,
+            t.poisson_ns as f64 / n / 1e6,
+            t.apply_ns as f64 / n / 1e6,
+            t.steps
+        );
+    }
+}