Merge r8c-3d-interface (R8/R7 phase 1; default-off, verified)
Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]>
This commit is contained in:
Omar Sobh
@@ -26,8 +26,8 @@ use embedded3_flag_kinematics::{Recorded, recorded};
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use rtx_cfd::solvers::incompressible::ConvectionScheme;
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use rtx_cfd::solvers::incompressible::embedded3::step::device::DeviceStep;
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use rtx_cfd::solvers::incompressible::embedded3::{
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Body, Boundaries, DeviceSdf, Field, Fluid, Grid, Parameters, Side, Solver, WallScheme,
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write_vtk,
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Body, Boundaries, DeviceSdf, FAR_OUTSIDE, Field, Fluid, Grid, HexPlate, Parameters,
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PlateSurface, Side, Solver, WallScheme, write_vtk,
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};
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use std::io::Write as _;
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@@ -287,6 +287,99 @@ fn cylinder_3d(d2: f64, z: f64, r: f64) -> f64 {
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outside + q1.max(q2).min(0.0) - r
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}
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/// R8-c: the flag as a deformed plate (`RTX_E3_FLAG_BODY=plate`): the
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/// span stations (`RTX_E3_FLAG_STATIONS`, default 21, spread over the
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/// flag's span) each carry the centreline polyline. `RTX_E3_FLAG_TWIST=κ`
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/// (default 0; analytic mode only) scales each station's deflection and
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/// velocity by `1 + κ ζ`, `ζ = (z − z_c)/(span/2)` — the first bending mode
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/// times a span-linear twist. At κ = 0 every station is the polyline as it
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/// is (the G1 identity with the polyline capsule).
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fn plate_body() -> bool {
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std::env::var("RTX_E3_FLAG_BODY").is_ok_and(|v| v == "plate")
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}
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fn twist() -> f64 {
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env_f("RTX_E3_FLAG_TWIST", 0.0)
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}
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/// The span stations' z (ascending) and their ζ.
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fn stations() -> Vec<f64> {
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let n = (env_f("RTX_E3_FLAG_STATIONS", 21.0) as usize).max(2);
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let (zc, span) = (0.5 * duct_depth(), flag_span());
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(0..n)
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.map(|k| zc - 0.5 * span + span * k as f64 / (n - 1) as f64)
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.collect()
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}
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/// The span factor `1 + κ ζ` of the deflection at `z` (clamped to the span).
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fn span_factor(z: f64) -> f64 {
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let (zc, span) = (0.5 * duct_depth(), flag_span());
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let zeta = ((z - zc) / (0.5 * span)).clamp(-1.0, 1.0);
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1.0 + twist() * zeta
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}
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/// The plate at `t`: per station the centreline (and its velocity).
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fn plate_at(t: f64) -> PlateSurface {
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let z = stations();
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let (row, vel): (Vec<[f64; 2]>, Vec<[f64; 2]>) = match recorded() {
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Some(rec) => recorded_polyline(rec, t)
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.iter()
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.map(|p| ([p.0, p.1], [p.2, p.3]))
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.unzip(),
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None => analytic_polyline(t)
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.iter()
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.map(|p| ([p.0, p.1], [0.0, p.2]))
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.unzip(),
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};
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if twist() == 0.0 {
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return PlateSurface::uniform(z, &row, &vel);
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}
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assert!(
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recorded().is_none(),
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"RTX_E3_FLAG_TWIST: the analytic mode only"
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);
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let ns = N + 1;
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let (mut xy, mut vv) = (Vec::new(), Vec::new());
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for &zk in &z {
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let f = span_factor(zk);
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let mut pts: Vec<(f64, f64, f64, f64)> = (0..ns)
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.map(|m| {
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let s = m as f64 / N as f64;
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let (d, v) = deflection(s, t);
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(FLAG_X0 + s * FLAG_LEN, body_cy() + d * f, 0.0, v * f)
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})
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.collect();
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inset_last(&mut pts, tip_inset());
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xy.extend(pts.iter().map(|p| [p.0, p.1]));
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vv.extend(pts.iter().map(|p| [p.2, p.3]));
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}
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PlateSurface { z, ns, xy, vel: vv }
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}
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/// The deformed flag's mid-surface point `y = w(x, z)` and its 3D unit
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/// normal at arc fraction `s` and span `z` (the analytic kinematics with the
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/// span factor; the structure's placement for the load transfer: the
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/// thickness along the mid-surface's normal, as a solid plate carries it).
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fn mid_point(s: f64, z: f64, t: f64) -> ([f64; 3], [f64; 3]) {
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let f = span_factor(z);
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let (d, _) = deflection(s, t);
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let ds = 1e-6;
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let (s0, s1) = ((s - ds).max(0.0), (s + ds).min(1.0));
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let wx = (deflection(s1, t).0 - deflection(s0, t).0) / (s1 - s0) / FLAG_LEN * f;
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// The span factor's rate: κ / (span/2) inside the span.
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let (zc, span) = (0.5 * duct_depth(), flag_span());
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let wz = if ((z - zc) / (0.5 * span)).abs() < 1.0 {
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d * twist() / (0.5 * span)
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} else {
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0.0
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};
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let r = (1.0 + wx * wx + wz * wz).sqrt();
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(
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[FLAG_X0 + s * FLAG_LEN, body_cy() + d * f, z],
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[-wx / r, 1.0 / r, -wz / r],
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)
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}
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fn inflow(y: f64, z: f64) -> f64 {
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let (hd, d) = (duct_height(), duct_depth());
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16.0 * U_M * y * z * (hd - y) * (d - z) / (hd * hd * d * d)
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@@ -385,9 +478,68 @@ fn flag_wake_on_the_device() {
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let cy = body_cy();
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let cyl = move |x: f64, y: f64| ((x - CX).powi(2) + (y - cy).powi(2)).sqrt() - R_CYL;
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let r_fillet = root_fillet();
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let body = Body::from_sdf(move |x, y, z, t| {
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fillet_union(cylinder_3d(cyl(x, y), z, r_edge), flag_3d(x, y, z, t, r_edge).0, r_fillet)
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})
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// The device form of φ: the polyline capsule (R6-1), or the plate (R8-c).
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let device_sdf = move |t: f64| {
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let plate = plate_body().then(|| plate_at(t));
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DeviceSdf {
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cyl: [CX, cy, R_CYL],
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cyl_cut: !(flag_span() >= duct_depth()
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|| !std::env::var("RTX_E3_FLAG_CYL_SPAN").is_ok_and(|v| v == "flag")),
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flag_cut: flag_span() < duct_depth(),
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zc: 0.5 * duct_depth(),
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span: flag_span(),
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r_edge,
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half: FLAG_HALF,
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fillet: r_fillet,
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poly: match (&plate, recorded()) {
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(Some(_), _) => Vec::new(),
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(None, Some(rec)) => recorded_polyline(rec, t)
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.iter()
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.map(|p| [p.0, p.1])
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.collect(),
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(None, None) => analytic_polyline(t).iter().map(|p| [p.0, p.1]).collect(),
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},
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// R6-2 step 2: the centreline's velocity per point (the analytic mode is transverse).
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vel: match (&plate, recorded()) {
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(Some(_), _) => Vec::new(),
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(None, Some(rec)) => recorded_polyline(rec, t)
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.iter()
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.map(|p| [p.2, p.3])
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.collect(),
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(None, None) => analytic_polyline(t).iter().map(|p| [0.0, p.2]).collect(),
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},
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plate,
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}
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};
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// The device form at `t`, once per thread and time (the host closures
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// of the plate body evaluate it ~10⁶ times per step).
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let sdf_at = move |t: f64| -> std::sync::Arc<DeviceSdf> {
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thread_local! {
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static SDF: std::cell::RefCell<(u64, Option<std::sync::Arc<DeviceSdf>>)> =
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const { std::cell::RefCell::new((u64::MAX, None)) };
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}
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SDF.with(|cell| {
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let mut c = cell.borrow_mut();
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if c.0 != t.to_bits() || c.1.is_none() {
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c.1 = Some(std::sync::Arc::new(device_sdf(t)));
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c.0 = t.to_bits();
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}
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c.1.clone().expect("sdf")
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})
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};
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let body = if plate_body() {
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// R8-c: the host φ and surface velocity ARE the device form's (the
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// kernel's arithmetic on the host).
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Body::from_sdf(move |x, y, z, t| sdf_at(t).phi_host(x, y, z))
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.with_surface_velocity(move |x, y, z, t| sdf_at(t).velocity_host(x, y, z))
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} else {
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Body::from_sdf(move |x, y, z, t| {
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fillet_union(
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cylinder_3d(cyl(x, y), z, r_edge),
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flag_3d(x, y, z, t, r_edge).0,
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r_fillet,
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)
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})
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.with_surface_velocity(move |x, y, z, t| {
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let (df, (vx, vy)) = flag_3d(x, y, z, t, r_edge);
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if df <= cylinder_3d(cyl(x, y), z, r_edge) {
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@@ -395,35 +547,15 @@ fn flag_wake_on_the_device() {
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} else {
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(0.0, 0.0, 0.0)
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}
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});
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})
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};
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assert!(
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twist() == 0.0 || plate_body(),
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"RTX_E3_FLAG_TWIST needs RTX_E3_FLAG_BODY=plate"
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);
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// R6-1: the same φ in the device's form (the device geometry, default ON): the
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// circle, the capsule around the step's centreline, the span cuts.
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let body = body.with_device_sdf(move |t| DeviceSdf {
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cyl: [CX, cy, R_CYL],
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cyl_cut: !(flag_span() >= duct_depth()
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|| !std::env::var("RTX_E3_FLAG_CYL_SPAN").is_ok_and(|v| v == "flag")),
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flag_cut: flag_span() < duct_depth(),
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zc: 0.5 * duct_depth(),
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span: flag_span(),
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r_edge,
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half: FLAG_HALF,
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fillet: r_fillet,
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poly: match recorded() {
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Some(rec) => recorded_polyline(rec, t)
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.iter()
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.map(|p| [p.0, p.1])
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.collect(),
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None => analytic_polyline(t).iter().map(|p| [p.0, p.1]).collect(),
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},
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// R6-2 step 2: the centreline's velocity per point (the analytic mode is transverse).
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vel: match recorded() {
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Some(rec) => recorded_polyline(rec, t)
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.iter()
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.map(|p| [p.2, p.3])
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.collect(),
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None => analytic_polyline(t).iter().map(|p| [0.0, p.2]).collect(),
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},
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});
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// circle, the capsule around the step's centreline (or the plate), the span cuts.
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let body = body.with_device_sdf(device_sdf);
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solver.set_moving_body(body);
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let g = Grid::cubic(nx, ny_grid, nz, h);
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let mut field = Field::new(g);
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@@ -484,6 +616,32 @@ fn flag_wake_on_the_device() {
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(mid - 2, mid + 2)
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};
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let width = nz as f64 * h;
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// R8-c: the load transfer onto the structure's Hex20 plate (35 × 2 × n
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// with n = `RTX_E3_FLAG_TRANSFER`; off when unset) every
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// `RTX_E3_FLAG_TRANSFER_EVERY`-th sample (default 1), the budget to
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// `RTX_E3_FLAG_TRANSFER_CSV`, the last transfer's nodal forces to
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// `RTX_E3_FLAG_TRANSFER_NODAL`. The plate is placed on the prescribed
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// kinematics (analytic mode): the centreline with the span factor, the
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// thickness along its in-plane normal, the flag's span.
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let transfer_nz = env_f("RTX_E3_FLAG_TRANSFER", 0.0) as usize;
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let transfer_every = (env_f("RTX_E3_FLAG_TRANSFER_EVERY", 1.0) as usize).max(1);
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let hex = (transfer_nz > 0).then(|| {
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assert!(
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recorded().is_none(),
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"RTX_E3_FLAG_TRANSFER: the analytic mode only"
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);
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HexPlate::new(35, 2, transfer_nz)
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});
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let mut transfer_csv = std::env::var("RTX_E3_FLAG_TRANSFER_CSV").ok().map(|p| {
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let mut f = std::fs::File::create(p).expect("transfer csv");
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writeln!(
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f,
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"t,loads,flag_loads,route_x,route_y,route_z,sum_dx,sum_dy,sum_dz,fin_x,fin_y,fin_z,dfx,dfy,dfz,min_x,min_y,min_z,dmx,dmy,dmz,rel_force,rel_moment,max_newton,max_outside,extrapolated,extrap_share,interior_share,lever_x,lever_y,lever_z,ms"
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)
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.unwrap();
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f
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});
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let mut samples_seen = 0usize;
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let start = std::time::Instant::now();
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let mut drag_rec_sum = 0.0;
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// The routes' PARTS over the whole body (x, per unit width): operator
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@@ -520,6 +678,131 @@ fn flag_wake_on_the_device() {
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let ft = mask
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.cut_wall_force(body, &field, RHO * NU, t)
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.expect("wall");
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if sample {
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samples_seen += 1;
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}
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if let (Some(hex), true) = (hex.as_ref(), sample && samples_seen % transfer_every == 0)
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{
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let lap = std::time::Instant::now();
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let (loads, route) = mask
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.cut_wall_loads(body, &field, RHO * NU, t)
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.expect("loads");
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// The route's total is cut_wall_force's, to the bit (same loops).
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assert_eq!(route.map(f64::to_bits), ft.map(f64::to_bits), "route total");
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let mut sum = [0.0f64; 3];
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for l in &loads {
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for c in 0..3 {
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sum[c] += l.f[c];
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}
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}
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let sdf = body.device_sdf(t).expect("device form");
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let flag: Vec<_> = loads
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.iter()
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.filter(|l| sdf.is_flag_host(l.foot[0], l.foot[1], l.foot[2]))
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.collect();
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let (zc, span) = (0.5 * duct_depth(), flag_span());
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let pos = hex.place(|s, eta, zeta| {
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let z = zc - 0.5 * span + span * zeta;
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let (c, n) = mid_point(s, z, t);
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[
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c[0] + FLAG_HALF * eta * n[0],
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c[1] + FLAG_HALF * eta * n[1],
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c[2] + FLAG_HALF * eta * n[2],
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]
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});
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let pairs: Vec<([f64; 3], [f64; 3])> = flag.iter().map(|l| (l.foot, l.f)).collect();
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let origin = [FLAG_X0, body_cy(), zc];
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let tr = hex.transfer(&pos, &pairs, origin);
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// The lever the foot adds over the operator point: Σ (foot − x) × F.
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let mut lever = [0.0f64; 3];
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for l in &flag {
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let d = [l.foot[0] - l.x[0], l.foot[1] - l.x[1], l.foot[2] - l.x[2]];
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let m = [
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d[1] * l.f[2] - d[2] * l.f[1],
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d[2] * l.f[0] - d[0] * l.f[2],
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d[0] * l.f[1] - d[1] * l.f[0],
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];
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for c in 0..3 {
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lever[c] += m[c];
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}
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}
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let nrm = |a: [f64; 3]| (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]).sqrt();
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let df = [0, 1, 2].map(|c| tr.force_out[c] - tr.force_in[c]);
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let dm = [0, 1, 2].map(|c| tr.moment_out[c] - tr.moment_in[c]);
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let abs_f: f64 = flag.iter().map(|l| nrm(l.f)).sum();
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let rel_f = nrm(df) / abs_f.max(1e-300);
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let rel_m = nrm(dm) / (abs_f * FLAG_LEN).max(1e-300);
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let extrap_share = tr.extrapolated_load / abs_f.max(1e-300);
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let ms = lap.elapsed().as_secs_f64() * 1e3;
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println!(
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" transfer t {t:.4}: {} loads ({} flag); route − Σ {:.1e} N; flag F {:+.4} {:+.4} {:+.4} N, M {:+.5} {:+.5} {:+.5} N m; |ΔF|/Σ|F| {rel_f:.1e}, |ΔM|/(Σ|F| L) {rel_m:.1e}; Newton ≤ {:.1e} m, outside ≤ {:.2e} at ({:.4}, {:.4}, {:.4}) ({} beyond {FAR_OUTSIDE}, {:.1e} of Σ|F|), interior share {:.3}; {ms:.0} ms",
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loads.len(),
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flag.len(),
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nrm([route[0] - sum[0], route[1] - sum[1], route[2] - sum[2]]),
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tr.force_in[0],
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tr.force_in[1],
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tr.force_in[2],
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tr.moment_in[0],
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tr.moment_in[1],
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tr.moment_in[2],
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tr.max_residual,
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tr.max_outside,
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tr.worst_point[0],
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tr.worst_point[1],
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tr.worst_point[2],
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tr.extrapolated,
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extrap_share,
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tr.interior_share
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);
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if let Some(f) = transfer_csv.as_mut() {
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writeln!(
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f,
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"{t:.6},{},{},{:.9e},{:.9e},{:.9e},{:.3e},{:.3e},{:.3e},{:.9e},{:.9e},{:.9e},{:.3e},{:.3e},{:.3e},{:.9e},{:.9e},{:.9e},{:.3e},{:.3e},{:.3e},{rel_f:.3e},{rel_m:.3e},{:.3e},{:.3e},{},{extrap_share:.3e},{:.4e},{:.4e},{:.4e},{:.4e},{ms:.1}",
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loads.len(),
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flag.len(),
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route[0],
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route[1],
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route[2],
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route[0] - sum[0],
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route[1] - sum[1],
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route[2] - sum[2],
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tr.force_in[0],
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tr.force_in[1],
|
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tr.force_in[2],
|
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df[0],
|
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df[1],
|
||||
df[2],
|
||||
tr.moment_in[0],
|
||||
tr.moment_in[1],
|
||||
tr.moment_in[2],
|
||||
dm[0],
|
||||
dm[1],
|
||||
dm[2],
|
||||
tr.max_residual,
|
||||
tr.max_outside,
|
||||
tr.extrapolated,
|
||||
tr.interior_share,
|
||||
lever[0],
|
||||
lever[1],
|
||||
lever[2]
|
||||
)
|
||||
.unwrap();
|
||||
}
|
||||
if let Ok(path) = std::env::var("RTX_E3_FLAG_TRANSFER_NODAL") {
|
||||
let mut f = std::fs::File::create(path).expect("nodal csv");
|
||||
writeln!(f, "node,i,j,k,x,y,z,fx,fy,fz").unwrap();
|
||||
for (n, fv) in tr.nodal.iter().enumerate() {
|
||||
let [i, j, k] = hex.lattice_of(n);
|
||||
let x = pos[n];
|
||||
writeln!(
|
||||
f,
|
||||
"{n},{i},{j},{k},{:.9e},{:.9e},{:.9e},{:.9e},{:.9e},{:.9e}",
|
||||
x[0], x[1], x[2], fv[0], fv[1], fv[2]
|
||||
)
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
}
|
||||
// The tip's transverse deflection: the record's last station in
|
||||
// recorded mode (until 2026-09-21 this column held the analytic
|
||||
// first mode even then — R2's fits use the record directly).
|
||||
|
||||
Reference in New Issue
Block a user