Omar SobhandClaude Fable 5.1
c3dbd5040a
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Co-Authored-By: Claude Fable 5.1 <[email protected]> Claude-Session: https://claude.ai/code/session_01YJPeT6WA2e7YvAnS875AHL
1132 lines
42 KiB
Rust
1132 lines
42 KiB
Rust
//! P5 (`docs/overset_metal_campaign.md` §5.12): the FSI2 harness's FLUID
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//! SIDE on the overset — the background without a body, the cylinder–flag
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//! O-grid regenerated around the deformed flag every time the interface
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//! moves (`set_patch_mesh`: the overlap rebuilt, fresh cells refilled, the
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//! fringe re-stamped, the flux balance on), the patch's wall velocity from
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//! the interface velocities (nearest wetted segment, linear along it), and
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//! the load from the patch's wall faces (pressure + full-stress traction
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//! per face into `WettedSurface::transfer_load`) — no probes, no spike
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//! clamp, no smoothing. The structure side is the harness's, unchanged.
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use std::cell::Cell;
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use std::sync::{Arc, RwLock};
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use nalgebra::Vector3;
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use rtx_cfd::mesh::PatchSide;
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use rtx_cfd::mesh::patch_gen::cylinder_flag_patch_deformed_tip;
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use rtx_cfd::solvers::incompressible::{
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AleBoundaries, ConvectionScheme, CurvilinearParameters, CurvilinearPisoSolver,
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EmbeddedParameters, EmbeddedPisoSolver, FlowField, MgPrecision, NormalDiffusion, OversetField,
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OversetParameters, OversetPisoSolver, OversetResult, OversetSolverState, PatchConvection,
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PatchField, PoissonSolverKind, RobinWall, SideBoundary,
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};
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use rtx_cfd::{CfdConfig, CfdResult};
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use rtx_fea::mesh::{Mesh, NodeId};
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use rtx_fsi::{FluidFace, WettedSurface};
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use super::{BenchmarkCase, FLAG_X1, H, Interface, L, NU_F, RHO_F, flag_mesh, inflow_for};
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const CYL_CENTRE: [f64; 2] = [0.2, 0.2];
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const CYL_R: f64 = 0.05;
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const FLAG_T: f64 = 0.01;
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/// The junction fillet: a fixed 5 mm at every resolution (§5.11).
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const FILLET: f64 = 0.5 * 0.41 / 41.0;
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const PATCH_ROWS: usize = 12;
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const PATCH_STRETCH: f64 = 4.0;
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/// The patch's thickness in units of h (`RTX_FSI2O_PATCH_OFFSET`, 6).
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/// At the default the overlap band sits a fixed NUMBER of cells from the
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/// wall and moves inward in metres with refinement (ny 41 / 62 / 82 →
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/// 60 / 40 / 30 mm); P5-3 holds it in metres across the ladder instead.
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fn patch_offset_h() -> f64 {
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std::env::var("RTX_FSI2O_PATCH_OFFSET")
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.ok()
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.and_then(|v| v.parse().ok())
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.unwrap_or(6.0)
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}
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/// The tip's corner radius (`RTX_FSI2O_TIP_CORNER`, metres; the recorded
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/// outline is the full semicircle, corner = t = 0.01): P5-3 option B — the
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/// benchmark's flat tip with rounded corners (2.5 mm) against the
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/// semicircle, gated on the lift phase and the per-period amplitude.
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pub fn tip_corner() -> f64 {
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std::env::var("RTX_FSI2O_TIP_CORNER")
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.ok()
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.and_then(|v| v.parse().ok())
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.unwrap_or(FLAG_T)
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}
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/// The outline's fillet radius (`RTX_FSI2O_FILLET`, metres; 5 mm = t/2 in
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/// every recorded run, so the tip is a full half-round and the root
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/// carries 5 mm fillets — the reference's flag is a sharp rectangle).
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/// P5-3's problem-definition probe: the tip's rounding sets how the flag
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/// sheds, i.e. the wake's strength, which the h-ladder says is the
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/// excitation that keeps growing.
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pub fn fillet() -> f64 {
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std::env::var("RTX_FSI2O_FILLET")
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.ok()
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.and_then(|v| v.parse().ok())
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.unwrap_or(FILLET)
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}
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/// The patch's across stretch (`RTX_FSI2O_PATCH_STRETCH`, the geometric
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/// ratio of the outer to the wall cell, 4.0 in every recorded run): with
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/// 12 rows over 6 h the wall cell is 6 h (r − 1)/(r¹² − 1), r¹¹ = stretch —
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/// 0.227 h / 0.144 h / 0.088 h at 4 / 8 / 16 — P5-3's wall-normal
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/// resolution knob at fixed h (the rows ladder does not build: the overlap
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/// needs outer cells ≈ h/2 or larger).
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pub fn patch_stretch() -> f64 {
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std::env::var("RTX_FSI2O_PATCH_STRETCH")
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.ok()
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.and_then(|v| v.parse().ok())
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.unwrap_or(PATCH_STRETCH)
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}
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/// The background's convection scheme (`RTX_FSI2O_BG_CONVECTION`: `tvd`
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/// (default, van Albada), `upwind`) — P5-3's wake-dissipation knob on the
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/// fixed-motion replay (the patch's scheme was excluded as the h-term's
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/// carrier: both ladders move +1.5–1.7 W/m from ny 41 to 62).
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pub fn bg_convection() -> ConvectionScheme {
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match std::env::var("RTX_FSI2O_BG_CONVECTION").as_deref() {
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Ok("upwind") => ConvectionScheme::Upwind,
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_ => ConvectionScheme::TvdVanAlbada,
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}
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}
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/// The patch's convection scheme (`RTX_FSI2O_PATCH_CONVECTION`: `tvd`
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/// (default, van Albada), `upwind`, `none`) — P5-3's near-wake dispersion
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/// knob on the fixed-motion replay.
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pub fn patch_convection() -> PatchConvection {
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match std::env::var("RTX_FSI2O_PATCH_CONVECTION").as_deref() {
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Ok("upwind") => PatchConvection::Upwind,
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Ok("none") => PatchConvection::None,
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_ => PatchConvection::TvdVanAlbada,
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}
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}
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/// The patch's across-rows (`RTX_FSI2O_PATCH_ROWS`, 12; scale it with the
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/// offset to keep the wall spacing).
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fn patch_rows() -> usize {
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std::env::var("RTX_FSI2O_PATCH_ROWS")
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.ok()
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.and_then(|v| v.parse().ok())
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.unwrap_or(PATCH_ROWS)
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}
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/// The save tag: `fsi2o_ny{ny}`, plus `_off{offset}` off the default
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/// patch thickness so a thicker patch never loads the default's state.
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fn save_tag(ny: usize) -> String {
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let offset = patch_offset_h();
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if (offset - 6.0).abs() < 1e-12 {
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format!("fsi2o_ny{ny}")
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} else {
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format!("fsi2o_ny{ny}_off{offset}")
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}
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}
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/// The deforming wall as the patch sees it: the wetted polygon (the
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/// `Interface` walk, anchors included) and the velocity at each vertex.
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#[derive(Debug, Clone, Default)]
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pub struct WallMotion {
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pub polygon: Vec<[f64; 2]>,
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pub velocity: Vec<[f64; 2]>,
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/// The net normal velocity removed from every segment (the imposed
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/// velocity's volume flux over the wall length) when the wall is
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/// made volume-preserving; zero otherwise.
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pub q: f64,
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}
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impl WallMotion {
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/// The imposed velocity's net volume flux INTO the fluid over the
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/// polygon (counter-clockwise around the body: outward normal
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/// `(dy, −dx)/L`), and the polygon's length.
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pub fn net_flux(&self) -> (f64, f64) {
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let (mut flux, mut len) = (0.0, 0.0);
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for i in 0..self.polygon.len().saturating_sub(1) {
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let (a, b) = (self.polygon[i], self.polygon[i + 1]);
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let (dx, dy) = (b[0] - a[0], b[1] - a[1]);
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let (va, vb) = (self.velocity[i], self.velocity[i + 1]);
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let (vx, vy) = (0.5 * (va[0] + vb[0]), 0.5 * (va[1] + vb[1]));
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flux += vx * dy - vy * dx;
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len += (dx * dx + dy * dy).sqrt();
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}
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(flux, len)
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}
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/// The polygon's enclosed area (shoelace; the walk is closed across
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/// the cylinder by its anchors, so this is the flag's area up to a
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/// constant).
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pub fn area(&self) -> f64 {
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let n = self.polygon.len();
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let mut a = 0.0;
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for i in 0..n {
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let (p, q) = (self.polygon[i], self.polygon[(i + 1) % n]);
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a += p[0] * q[1] - q[0] * p[1];
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}
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0.5 * a
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}
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}
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impl WallMotion {
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/// Velocity at `(x, y)`: linear along the nearest polygon segment.
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pub fn velocity_at(&self, x: f64, y: f64) -> (f64, f64) {
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let n = self.polygon.len();
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if n < 2 {
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return (0.0, 0.0);
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}
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let (mut best_d, mut best) = (f64::INFINITY, (0.0, 0.0));
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for i in 0..n - 1 {
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let (a, b) = (self.polygon[i], self.polygon[i + 1]);
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let (dx, dy) = (b[0] - a[0], b[1] - a[1]);
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let l2 = dx * dx + dy * dy;
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let t = if l2 > 0.0 {
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(((x - a[0]) * dx + (y - a[1]) * dy) / l2).clamp(0.0, 1.0)
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} else {
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0.0
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};
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let (px, py) = (a[0] + t * dx, a[1] + t * dy);
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let d = (px - x).powi(2) + (py - y).powi(2);
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if d < best_d {
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best_d = d;
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let (va, vb) = (self.velocity[i], self.velocity[i + 1]);
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let l = l2.sqrt().max(1e-300);
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best = (
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va[0] + t * (vb[0] - va[0]) - self.q * dy / l,
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va[1] + t * (vb[1] - va[1]) + self.q * dx / l,
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);
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}
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}
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best
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}
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}
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/// The overset fluid of the coupled march.
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pub struct OversetFluid {
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pub case: BenchmarkCase,
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pub mesh: Mesh,
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pub interface: Interface,
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pub a_node: NodeId,
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pub ny: usize,
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pub nx: usize,
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pub h: f64,
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pub mu: f64,
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pub dt_fluid: f64,
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pub solver: OversetPisoSolver,
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pub field: OversetField,
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pub shared: Arc<RwLock<WallMotion>>,
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pub sweeps: usize,
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/// Patch regenerations and their wall time.
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pub regen_count: Cell<usize>,
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pub regen_seconds: Cell<f64>,
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/// Background cells reclassified, summed over every fluid step.
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pub reclassified_total: Cell<usize>,
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pub fresh_total: Cell<usize>,
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pub rounds_total: Cell<usize>,
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pub correctors_total: Cell<usize>,
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/// The interface of the last `set_geometry`.
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pub last_d: Vec<f64>,
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/// The committed step's patch, the warm start of every regeneration
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/// in the next step (`RTX_FSI2O_WARM_SWEEPS`); `None` = cold builds.
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pub warm_base: Option<rtx_cfd::mesh::PatchMesh>,
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pub warm_sweeps: usize,
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/// The last fluid step's mass defects (patch acceptor ring, background
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/// fringe) and the patch's max divergence.
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pub last_defects: Cell<(f64, f64, f64)>,
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}
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impl OversetFluid {
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/// Build the composite at rest around the undeformed flag.
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pub fn build_case(
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case: BenchmarkCase,
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ny: usize,
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flag_nx: usize,
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sweeps: usize,
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max_rounds: usize,
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) -> CfdResult<Self> {
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Self::build_case_with(case, ny, flag_nx, sweeps, max_rounds, None)
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}
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/// [`Self::build_case`] with an initial patch mesh given (a saved
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/// instant's deformed patch: the overlap is built around it).
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pub fn build_case_with(
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case: BenchmarkCase,
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ny: usize,
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flag_nx: usize,
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sweeps: usize,
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max_rounds: usize,
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initial: Option<rtx_cfd::mesh::PatchMesh>,
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) -> CfdResult<Self> {
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let h = H / ny as f64;
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let nx = (L / h).round() as usize;
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let mu = RHO_F * NU_F;
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let u_mean = case.u_mean;
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let u_peak = 1.5 * 1.5 * u_mean;
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let mesh = flag_mesh(flag_nx, 2);
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let interface = Interface::build(&mesh);
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let a_node = mesh
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.nodes
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.iter()
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.find(|(_, n)| {
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(n.position().x - 0.6).abs() < 1e-9 && (n.position().y - 0.2).abs() < 1e-9
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})
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.map(|(&id, _)| id)
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.expect("point A");
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let zero_d = vec![0.0; 2 * interface.wetted.len()];
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let config = CfdConfig::new()
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.with_density(RHO_F)
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.with_viscosity(mu)
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.with_reference_velocity(u_mean)
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.with_reference_length(0.1);
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let mut background = EmbeddedPisoSolver::new(
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config.clone(),
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EmbeddedParameters {
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corrector_steps: 2,
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tolerance: 1e-7,
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boundaries: AleBoundaries {
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left: SideBoundary::Velocity,
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right: SideBoundary::PressureOutlet,
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bottom: SideBoundary::Velocity,
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top: SideBoundary::Velocity,
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},
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poisson_solver: PoissonSolverKind::Multigrid,
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poisson_precision: MgPrecision::F64,
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convection_scheme: bg_convection(),
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},
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)?;
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background.set_boundary_velocity(move |x, y, t| {
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if x <= 0.0 {
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(inflow_for(u_mean, y, t), 0.0)
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} else {
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(0.0, 0.0)
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}
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});
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let (cold_mesh, _) = cylinder_flag_patch_deformed_tip(
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CYL_CENTRE,
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CYL_R,
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FLAG_T,
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&interface.edges(&zero_d),
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FLAG_X1,
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h,
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fillet(),
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patch_offset_h() * h,
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patch_rows(),
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patch_stretch(),
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sweeps,
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tip_corner(),
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)?;
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// With the warm-started regeneration (`RTX_FSI2O_WARM_SWEEPS`), the
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// march starts on the converged fixed point of the warm build's
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// sweep + re-spacing map, so the chain starts where it stays.
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let warm_sweeps: usize = std::env::var("RTX_FSI2O_WARM_SWEEPS")
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.ok()
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.and_then(|v| v.parse().ok())
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.unwrap_or(0);
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let start_mesh = if warm_sweeps > 0 {
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let t0 = std::time::Instant::now();
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let (m, (it, last)) = rtx_cfd::mesh::patch_gen::cylinder_flag_patch_deformed_from_tip(
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Some(&cold_mesh),
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CYL_CENTRE,
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CYL_R,
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FLAG_T,
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&interface.edges(&zero_d),
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FLAG_X1,
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h,
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fillet(),
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patch_offset_h() * h,
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patch_rows(),
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patch_stretch(),
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20_000,
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tip_corner(),
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)?;
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println!(
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" warm base: {it} sweep+respace iterations (last move {last:.1e}) in {:.1} s; {warm_sweeps} per regeneration",
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t0.elapsed().as_secs_f64()
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);
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m
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} else {
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cold_mesh
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};
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// The fluid step is the march's: from the mesh the march started
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// on, whatever patch this composite is built around (a saved
|
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// deformed instant) — 0.2 % of dt read as 0.3–5 N/m of solved-face
|
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// residual in the audit before this.
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let mut hs = f64::INFINITY;
|
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for c in 0..start_mesh.cell_count() {
|
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for (f, _) in start_mesh.cell_faces(c) {
|
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if start_mesh.is_sface(f) {
|
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let d = start_mesh.faces()[f].d;
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hs = hs.min((d[0] * d[0] + d[1] * d[1]).sqrt());
|
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}
|
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}
|
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}
|
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let dt_bg = 0.25 / (2.0 * u_peak / h + 4.0 * NU_F / (h * h));
|
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let dt_patch = 0.4 * (hs * hs / (4.0 * NU_F)).min(hs / u_peak);
|
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// `RTX_FSI2O_DT_SCALE` (1): the fluid step scaled off its CFL-
|
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// derived value — P5-3's dt-convergence probe of the first-order
|
||
// Euler steps (the s = 8 pair moved the amplitude 95 → 60 mm).
|
||
let dt_scale: f64 = std::env::var("RTX_FSI2O_DT_SCALE")
|
||
.ok()
|
||
.and_then(|v| v.parse().ok())
|
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.unwrap_or(1.0);
|
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let dt_fluid = dt_bg.min(dt_patch) * dt_scale;
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let patch_mesh = initial.unwrap_or(start_mesh);
|
||
|
||
let shared = Arc::new(RwLock::new(WallMotion {
|
||
polygon: interface
|
||
.polygon(&zero_d)
|
||
.iter()
|
||
.map(|&(x, y)| [x, y])
|
||
.collect(),
|
||
velocity: vec![[0.0, 0.0]; interface.walk.len()],
|
||
q: 0.0,
|
||
}));
|
||
let wall = shared.clone();
|
||
let mut patch = CurvilinearPisoSolver::new(
|
||
config,
|
||
CurvilinearParameters {
|
||
tolerance: 1e-5,
|
||
convection: patch_convection(),
|
||
normal_diffusion: NormalDiffusion::LineImplicit,
|
||
..CurvilinearParameters::default()
|
||
},
|
||
patch_mesh,
|
||
)?;
|
||
// Discriminators (P5-1 matrix): `RTX_FSI2O_NO_WALL_VEL` keeps the
|
||
// wall at rest in the fluid while the geometry moves.
|
||
let no_wall_vel = std::env::var("RTX_FSI2O_NO_WALL_VEL").is_ok();
|
||
patch.set_side_velocity(PatchSide::Inner, move |x, y, _| {
|
||
if no_wall_vel {
|
||
(0.0, 0.0)
|
||
} else {
|
||
wall.read().unwrap().velocity_at(x, y)
|
||
}
|
||
});
|
||
let mut patch_field = PatchField::new(patch.mesh());
|
||
patch.initialize(&mut patch_field, |_, _| (0.0, 0.0));
|
||
|
||
let params = OversetParameters {
|
||
stall_rounds: 2,
|
||
max_rounds,
|
||
// `RTX_FSI2O_ROWS`: the overlap depth (patch rows kept non-hole
|
||
// below the acceptor row; default 4). A deeper overlap widens
|
||
// the band the acceptors' donors need on a bent patch.
|
||
overlap_rows: std::env::var("RTX_FSI2O_ROWS")
|
||
.ok()
|
||
.and_then(|v| v.parse().ok())
|
||
.unwrap_or(OversetParameters::default().overlap_rows),
|
||
..OversetParameters::default()
|
||
};
|
||
let mut solver = OversetPisoSolver::new(background, patch, (nx, ny, h, h), params)?;
|
||
let mut field = OversetField {
|
||
background: FlowField::new(nx, ny, h, h)?,
|
||
patch: patch_field,
|
||
};
|
||
solver.initialize(&mut field)?;
|
||
Ok(Self {
|
||
case,
|
||
mesh,
|
||
interface,
|
||
a_node,
|
||
ny,
|
||
nx,
|
||
h,
|
||
mu,
|
||
dt_fluid,
|
||
solver,
|
||
field,
|
||
shared,
|
||
sweeps,
|
||
regen_count: Cell::new(0),
|
||
regen_seconds: Cell::new(0.0),
|
||
reclassified_total: Cell::new(0),
|
||
fresh_total: Cell::new(0),
|
||
rounds_total: Cell::new(0),
|
||
correctors_total: Cell::new(0),
|
||
last_d: zero_d,
|
||
last_defects: Cell::new((0.0, 0.0, 0.0)),
|
||
warm_base: None,
|
||
warm_sweeps,
|
||
})
|
||
}
|
||
|
||
/// Save the fluid state (`RTX_FSI2O_SAVE=dir`, tag `fsi2o_ny{ny}`):
|
||
/// the background as `FlowField::save`, the patch vectors raw, the
|
||
/// time.
|
||
pub fn save(&self, dir: &str) -> CfdResult<()> {
|
||
let dir = std::path::Path::new(dir);
|
||
std::fs::create_dir_all(dir).expect("save dir");
|
||
let tag = save_tag(self.ny);
|
||
self.field
|
||
.background
|
||
.save(&dir.join(format!("bg_{tag}.bin")))?;
|
||
for (name, vals) in [
|
||
("u", &self.field.patch.u),
|
||
("v", &self.field.patch.v),
|
||
("p", &self.field.patch.p),
|
||
("flux", &self.field.patch.flux),
|
||
] {
|
||
let bytes: Vec<u8> = vals.iter().flat_map(|x| x.to_le_bytes()).collect();
|
||
std::fs::write(dir.join(format!("patch_{tag}_{name}.bin")), bytes).expect("save patch");
|
||
}
|
||
std::fs::write(
|
||
dir.join(format!("time_{tag}.txt")),
|
||
format!("{:.17e}", self.solver.time()),
|
||
)
|
||
.expect("save time");
|
||
println!(
|
||
" saved the fluid state {tag} at t = {:.4} to {}",
|
||
self.solver.time(),
|
||
dir.display()
|
||
);
|
||
Ok(())
|
||
}
|
||
|
||
/// Save the composite at an instant of the coupled march for the
|
||
/// offline chain audit: the background, the patch's node coordinates
|
||
/// (the deformed mesh), its vectors, the time and the interface `d`
|
||
/// (`dir/inst_<tag>_<step>/`).
|
||
pub fn save_instant(&self, dir: &str, step: usize, d: &[f64], ddot: &[f64]) -> CfdResult<()> {
|
||
let tag = save_tag(self.ny);
|
||
let dir = std::path::Path::new(dir).join(format!("inst_{tag}_{step:06}"));
|
||
std::fs::create_dir_all(&dir).expect("instant dir");
|
||
self.field.background.save(&dir.join("bg.bin"))?;
|
||
let mesh = self.solver.patch().mesh();
|
||
let (ns, nn) = (mesh.ns(), mesh.nn());
|
||
let mut nodes: Vec<f64> = Vec::with_capacity(2 * (ns + 1) * (nn + 1));
|
||
for k in 0..=nn {
|
||
for i in 0..=ns {
|
||
let p = mesh.node_xy(mesh.node(k, i));
|
||
nodes.push(p[0]);
|
||
nodes.push(p[1]);
|
||
}
|
||
}
|
||
for (name, vals) in [
|
||
("nodes", &nodes),
|
||
("u", &self.field.patch.u),
|
||
("v", &self.field.patch.v),
|
||
("p", &self.field.patch.p),
|
||
("flux", &self.field.patch.flux),
|
||
("d", &d.to_vec()),
|
||
("dd", &ddot.to_vec()),
|
||
] {
|
||
let bytes: Vec<u8> = vals.iter().flat_map(|x| x.to_le_bytes()).collect();
|
||
std::fs::write(dir.join(format!("patch_{name}.bin")), bytes).expect("save");
|
||
}
|
||
std::fs::write(
|
||
dir.join("meta.txt"),
|
||
format!(
|
||
"t {:.17e}\nns {ns}\nnn {nn}\ndt {:.17e}\n",
|
||
self.solver.time(),
|
||
self.dt_fluid
|
||
),
|
||
)
|
||
.expect("meta");
|
||
Ok(())
|
||
}
|
||
|
||
/// Rebuild the composite on a saved instant (`save_instant`) — the
|
||
/// deformed patch from its node coordinates, the fields, the wall
|
||
/// motion — and return it with the interface and the time; the chain
|
||
/// then runs on it as on any settled state.
|
||
pub fn from_instant(
|
||
case: BenchmarkCase,
|
||
ny: usize,
|
||
flag_nx: usize,
|
||
dir: &std::path::Path,
|
||
) -> CfdResult<(Self, Vec<f64>, f64)> {
|
||
let read = |name: &str| -> Vec<f64> {
|
||
let bytes = std::fs::read(dir.join(format!("patch_{name}.bin")))
|
||
.unwrap_or_else(|e| panic!("instant {name}: {e}"));
|
||
bytes
|
||
.chunks_exact(8)
|
||
.map(|c| f64::from_le_bytes(c.try_into().expect("8 bytes")))
|
||
.collect()
|
||
};
|
||
let meta = std::fs::read_to_string(dir.join("meta.txt")).expect("meta");
|
||
let mut t = 0.0;
|
||
let (mut ns, mut nn) = (0usize, 0usize);
|
||
let mut dt_saved: Option<f64> = None;
|
||
for line in meta.lines() {
|
||
let mut it = line.split_whitespace();
|
||
match (it.next(), it.next()) {
|
||
(Some("t"), Some(v)) => t = v.parse().expect("t"),
|
||
(Some("ns"), Some(v)) => ns = v.parse().expect("ns"),
|
||
(Some("nn"), Some(v)) => nn = v.parse().expect("nn"),
|
||
(Some("dt"), Some(v)) => dt_saved = v.parse().ok(),
|
||
_ => {}
|
||
}
|
||
}
|
||
let nodes = read("nodes");
|
||
let (xs, ys): (Vec<f64>, Vec<f64>) = nodes.chunks_exact(2).map(|c| (c[0], c[1])).unzip();
|
||
let mesh = rtx_cfd::mesh::PatchMesh::from_nodes(ns, nn, xs, ys, Some([0.0, 0.0]))?;
|
||
// The composite around the deformed patch: built from scratch so
|
||
// the overlap is the instant's.
|
||
let mut fluid = Self::build_case_with(case, ny, flag_nx, 100, 3, Some(mesh))?;
|
||
let d = read("d");
|
||
let dd = read("dd");
|
||
{
|
||
let mut w = fluid.shared.write().unwrap();
|
||
w.polygon = fluid
|
||
.interface
|
||
.polygon(&d)
|
||
.iter()
|
||
.map(|&(x, y)| [x, y])
|
||
.collect();
|
||
w.velocity = fluid
|
||
.interface
|
||
.walk_velocities(&dd)
|
||
.iter()
|
||
.map(|&(u, v)| [u, v])
|
||
.collect();
|
||
}
|
||
fluid.field.background = FlowField::load(&dir.join("bg.bin"))?;
|
||
fluid.field.patch.u = read("u");
|
||
fluid.field.patch.v = read("v");
|
||
fluid.field.patch.p = read("p");
|
||
fluid.field.patch.flux = read("flux");
|
||
fluid.solver.set_time(t);
|
||
fluid.last_d = d.clone();
|
||
if let Some(dt) = dt_saved {
|
||
fluid.dt_fluid = dt;
|
||
}
|
||
Ok((fluid, d, t))
|
||
}
|
||
|
||
/// The wall load by REGION at the current state (P5-3): for the top
|
||
/// face, the bottom face, the tip arc, and the fillets + cylinder —
|
||
/// `(name, faces, length, drag, lift, mean t_n, min t_n, max t_n)`
|
||
/// with `t_n` the normal traction (≈ −p at the wall), and the patch's
|
||
/// pressure level.
|
||
pub fn wall_regions(
|
||
&self,
|
||
d: &[f64],
|
||
) -> (
|
||
Vec<(&'static str, usize, f64, f64, f64, f64, f64, f64)>,
|
||
f64,
|
||
) {
|
||
let e = self.interface.edges(d);
|
||
let tip_mid = [
|
||
0.5 * (e.tip[0][0] + e.tip[e.tip.len() - 1][0]),
|
||
0.5 * (e.tip[0][1] + e.tip[e.tip.len() - 1][1]),
|
||
];
|
||
let nearest = |pts: &[[f64; 2]], q: [f64; 2]| -> f64 {
|
||
pts.iter()
|
||
.map(|p| (p[0] - q[0]).powi(2) + (p[1] - q[1]).powi(2))
|
||
.fold(f64::INFINITY, f64::min)
|
||
};
|
||
let mut acc: Vec<(&'static str, usize, f64, f64, f64, f64, f64, f64)> = vec![
|
||
(
|
||
"top",
|
||
0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
f64::INFINITY,
|
||
f64::NEG_INFINITY,
|
||
),
|
||
(
|
||
"bottom",
|
||
0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
f64::INFINITY,
|
||
f64::NEG_INFINITY,
|
||
),
|
||
(
|
||
"tip arc",
|
||
0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
f64::INFINITY,
|
||
f64::NEG_INFINITY,
|
||
),
|
||
(
|
||
"fillets+cyl",
|
||
0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
0.0,
|
||
f64::INFINITY,
|
||
f64::NEG_INFINITY,
|
||
),
|
||
];
|
||
for (centre, normal, len, traction) in self.solver.patch().wall_tractions(
|
||
&self.field.patch,
|
||
PatchSide::Inner,
|
||
self.solver.time(),
|
||
) {
|
||
let on_cyl =
|
||
((centre[0] - CYL_CENTRE[0]).powi(2) + (centre[1] - CYL_CENTRE[1]).powi(2)).sqrt()
|
||
< CYL_R + 1.5 * fillet();
|
||
let near_tip = ((centre[0] - tip_mid[0]).powi(2) + (centre[1] - tip_mid[1]).powi(2))
|
||
.sqrt()
|
||
< 2.5 * FLAG_T;
|
||
let k = if on_cyl {
|
||
3
|
||
} else if near_tip {
|
||
2
|
||
} else if nearest(&e.top, centre) <= nearest(&e.bottom, centre) {
|
||
0
|
||
} else {
|
||
1
|
||
};
|
||
let tn = traction[0] * normal[0] + traction[1] * normal[1];
|
||
let r = &mut acc[k];
|
||
r.1 += 1;
|
||
r.2 += len;
|
||
r.3 += traction[0] * len;
|
||
r.4 += traction[1] * len;
|
||
r.5 += tn * len;
|
||
r.6 = r.6.min(tn);
|
||
r.7 = r.7.max(tn);
|
||
}
|
||
for r in &mut acc {
|
||
if r.2 > 0.0 {
|
||
r.5 /= r.2;
|
||
}
|
||
}
|
||
let p = &self.field.patch.p;
|
||
let level = p.iter().sum::<f64>() / p.len().max(1) as f64;
|
||
(acc, level)
|
||
}
|
||
|
||
/// The solver-metric momentum chain at the current state (§5.11's
|
||
/// instrument on the moving patch): the solved-face pin, the ring, the
|
||
/// box in the solver's flux form, the patch's balance, the wall.
|
||
pub fn chain_line(&self) -> String {
|
||
let dt = self.dt_fluid;
|
||
let h = self.h;
|
||
let (nx, ny) = (self.nx, self.ny);
|
||
let cv = (
|
||
(0.10 / h).round() as usize,
|
||
(0.75 / h).round() as usize,
|
||
(0.05 / h).round() as usize,
|
||
(0.36 / h).round() as usize,
|
||
);
|
||
let _ = (nx, ny);
|
||
let wall = self.measure_force();
|
||
let mr = self.solver.momentum_residual(&self.field, dt);
|
||
let ring = mr.fringe_fringe.fx + mr.fringe_hole.fx;
|
||
let bx = self.solver.solver_metric_force(&self.field, dt, cv).0;
|
||
let bx2 = self
|
||
.solver
|
||
.solver_metric_force(
|
||
&self.field,
|
||
dt,
|
||
(
|
||
(0.09 / h).round() as usize,
|
||
(0.70 / h).round() as usize,
|
||
(0.07 / h).round() as usize,
|
||
(0.34 / h).round() as usize,
|
||
),
|
||
)
|
||
.0;
|
||
let pb = self
|
||
.solver
|
||
.patch()
|
||
.momentum_balance(&self.field.patch, self.solver.time());
|
||
let ff = pb.flux_force()[0];
|
||
let fw = pb.wall_force()[0];
|
||
format!(
|
||
"solved far Σ|r| ({:.2e}, {:.2e}) {}/{} | near ring Σr ({:+.2e}, {:+.2e}) | box (solver flux form) {:.3} [2 boxes spread {:.1e}] → ring Σr {:+.3} ({} + {} faces of {} + {}) → hole flux {:.3} → band {:+.3} → patch interface {:.3} → interior {:+.3} (δP {:+.3}, balance residual {:+.3}) → wall, scheme fluxes {:.3} → wall formula {:+.3} → wall ({:.3}, {:.3}); total wall − box {:+.3} ({:+.2} %); reclassified so far {}",
|
||
mr.solved_far.abs_x,
|
||
mr.solved_far.abs_y,
|
||
mr.solved_far.evaluated,
|
||
mr.solved_far.total,
|
||
mr.solved_near.fx,
|
||
mr.solved_near.fy,
|
||
bx,
|
||
(bx - bx2).abs(),
|
||
ring,
|
||
mr.fringe_fringe.evaluated,
|
||
mr.fringe_hole.evaluated,
|
||
mr.fringe_fringe.total,
|
||
mr.fringe_hole.total,
|
||
bx + ring,
|
||
ff - (bx + ring),
|
||
ff,
|
||
fw - ff,
|
||
pb.pressure_defect()[0],
|
||
pb.balance()[0],
|
||
fw,
|
||
wall.0 - fw,
|
||
wall.0,
|
||
wall.1,
|
||
wall.0 - bx,
|
||
100.0 * (wall.0 - bx) / wall.0,
|
||
self.reclassified_total.get()
|
||
)
|
||
}
|
||
|
||
/// Load a state saved by [`Self::save`] (same ny, undeformed patch);
|
||
/// returns its time.
|
||
pub fn load(&mut self, dir: &str) -> CfdResult<f64> {
|
||
let dir = std::path::Path::new(dir);
|
||
let tag = save_tag(self.ny);
|
||
self.field.background = FlowField::load(&dir.join(format!("bg_{tag}.bin")))?;
|
||
let read = |name: &str| -> Vec<f64> {
|
||
let bytes = std::fs::read(dir.join(format!("patch_{tag}_{name}.bin")))
|
||
.unwrap_or_else(|e| panic!("load patch {name}: {e}"));
|
||
bytes
|
||
.chunks_exact(8)
|
||
.map(|c| f64::from_le_bytes(c.try_into().expect("8 bytes")))
|
||
.collect()
|
||
};
|
||
self.field.patch.u = read("u");
|
||
self.field.patch.v = read("v");
|
||
self.field.patch.p = read("p");
|
||
self.field.patch.flux = read("flux");
|
||
let t: f64 = std::fs::read_to_string(dir.join(format!("time_{tag}.txt")))
|
||
.expect("time")
|
||
.trim()
|
||
.parse()
|
||
.expect("time value");
|
||
self.solver.set_time(t);
|
||
println!(
|
||
" loaded the fluid state {tag} at t = {t:.4} from {}",
|
||
dir.display()
|
||
);
|
||
Ok(t)
|
||
}
|
||
|
||
/// The patch around the interface `d`.
|
||
pub fn patch_for(&self, d: &[f64]) -> CfdResult<rtx_cfd::mesh::PatchMesh> {
|
||
let start = std::time::Instant::now();
|
||
let (mesh, _) = rtx_cfd::mesh::patch_gen::cylinder_flag_patch_deformed_from_tip(
|
||
if self.warm_sweeps > 0 {
|
||
self.warm_base.as_ref()
|
||
} else {
|
||
None
|
||
},
|
||
CYL_CENTRE,
|
||
CYL_R,
|
||
FLAG_T,
|
||
&self.interface.edges(d),
|
||
FLAG_X1,
|
||
self.h,
|
||
fillet(),
|
||
patch_offset_h() * self.h,
|
||
patch_rows(),
|
||
patch_stretch(),
|
||
if self.warm_sweeps > 0 && self.warm_base.is_some() {
|
||
self.warm_sweeps
|
||
} else {
|
||
self.sweeps
|
||
},
|
||
tip_corner(),
|
||
)?;
|
||
self.regen_count.set(self.regen_count.get() + 1);
|
||
self.regen_seconds
|
||
.set(self.regen_seconds.get() + start.elapsed().as_secs_f64());
|
||
Ok(mesh)
|
||
}
|
||
|
||
/// The wall for the next fluid step: geometry `d`, velocity `ddot`.
|
||
pub fn set_geometry(&mut self, d: &[f64], ddot: &[f64]) -> CfdResult<()> {
|
||
{
|
||
let mut w = self.shared.write().unwrap();
|
||
w.polygon = self
|
||
.interface
|
||
.polygon(d)
|
||
.iter()
|
||
.map(|&(x, y)| [x, y])
|
||
.collect();
|
||
w.velocity = self
|
||
.interface
|
||
.walk_velocities(ddot)
|
||
.iter()
|
||
.map(|&(u, v)| [u, v])
|
||
.collect();
|
||
// `RTX_FSI2O_VOLUME_PRESERVE`: the fluid sees a volume-preserving
|
||
// wall — the imposed velocity's net flux (the flag's thickness
|
||
// breathing under the pressure step, a ~300 Hz mode of the
|
||
// ν = 0.4 solid) is removed uniformly along the wall.
|
||
w.q = 0.0;
|
||
if std::env::var("RTX_FSI2O_VOLUME_PRESERVE").is_ok() {
|
||
let (flux, len) = w.net_flux();
|
||
w.q = flux / len.max(1e-300);
|
||
}
|
||
}
|
||
// `RTX_FSI2O_FREEZE_PATCH`: the undeformed patch throughout (the
|
||
// wall velocity still moves) — is the regeneration the driver?
|
||
if std::env::var("RTX_FSI2O_FREEZE_PATCH").is_ok() {
|
||
self.last_d = d.to_vec();
|
||
return Ok(());
|
||
}
|
||
let mesh = match self.patch_for(d) {
|
||
Ok(m) => m,
|
||
Err(e) => {
|
||
self.dump_edges(d, &format!("generator refused ({e:?})"));
|
||
return Err(e);
|
||
}
|
||
};
|
||
self.last_d = d.to_vec();
|
||
self.solver.set_patch_mesh(mesh)
|
||
}
|
||
|
||
/// The last geometry, for the offline reproduction
|
||
/// (`patch_cylinder_flag_deformed.rs`, `RTX_CF_EDGES_FILE`): one edge
|
||
/// per block, `x y` per line, when `RTX_FSI2O_DUMP_DIR` is set.
|
||
fn dump_edges(&self, d: &[f64], why: &str) {
|
||
let Ok(dir) = std::env::var("RTX_FSI2O_DUMP_DIR") else {
|
||
return;
|
||
};
|
||
let e = self.interface.edges(d);
|
||
let mut out = String::new();
|
||
for (name, pts) in [("bottom", &e.bottom), ("tip", &e.tip), ("top", &e.top)] {
|
||
out.push_str(&format!("# {name} {}\n", pts.len()));
|
||
for p in pts {
|
||
out.push_str(&format!("{:.17e} {:.17e}\n", p[0], p[1]));
|
||
}
|
||
}
|
||
let path = std::path::Path::new(&dir).join("p5_death_edges.txt");
|
||
std::fs::write(&path, out).expect("dump edges");
|
||
println!(" {why}; edges dumped to {}", path.display());
|
||
}
|
||
|
||
/// One fluid step at the current wall.
|
||
pub fn step(&mut self) -> CfdResult<OversetResult> {
|
||
let r = match futures::executor::block_on(
|
||
self.solver.advance(&mut self.field, self.dt_fluid),
|
||
) {
|
||
Ok(r) => r,
|
||
Err(e) => {
|
||
// The overlap is rebuilt inside `advance`: a refused patch
|
||
// surfaces here, with the last geometry.
|
||
let d = self.last_d.clone();
|
||
self.dump_edges(&d, &format!("advance refused ({e:?})"));
|
||
return Err(e);
|
||
}
|
||
};
|
||
self.last_defects.set((
|
||
r.patch_mass_defect,
|
||
r.background_mass_defect,
|
||
r.patch_max_divergence,
|
||
));
|
||
self.reclassified_total
|
||
.set(self.reclassified_total.get() + r.reclassified_cells);
|
||
self.fresh_total.set(self.fresh_total.get() + r.fresh_cells);
|
||
self.rounds_total
|
||
.set(self.rounds_total.get() + r.rounds.iter().sum::<usize>());
|
||
self.correctors_total
|
||
.set(self.correctors_total.get() + r.rounds.len());
|
||
Ok(r)
|
||
}
|
||
|
||
/// `subcycle` fluid substeps from the current state with the interface
|
||
/// interpolated from `d_n` to `d_candidate` (the harness's
|
||
/// `advance_subcycled`, digit for digit in the kinematics).
|
||
pub fn advance_subcycled(
|
||
&mut self,
|
||
d_n: &[f64],
|
||
d_candidate: &[f64],
|
||
subcycle: usize,
|
||
v_n: Option<&[f64]>,
|
||
) -> CfdResult<()> {
|
||
let dt = self.dt_fluid * subcycle as f64;
|
||
let mean_velocity: Vec<f64> = d_candidate
|
||
.iter()
|
||
.zip(d_n)
|
||
.map(|(new, old)| (new - old) / dt)
|
||
.collect();
|
||
for m in 1..=subcycle {
|
||
let fraction = m as f64 / subcycle as f64;
|
||
let (d_sub, ddot_sub): (Vec<f64>, Vec<f64>) = match v_n {
|
||
None => (
|
||
d_n.iter()
|
||
.zip(d_candidate)
|
||
.map(|(old, new)| old + fraction * (new - old))
|
||
.collect(),
|
||
mean_velocity.clone(),
|
||
),
|
||
Some(v_start) => {
|
||
let mut d_sub = Vec::with_capacity(d_n.len());
|
||
let mut ddot_sub = Vec::with_capacity(d_n.len());
|
||
for k in 0..d_n.len() {
|
||
let v_end = 2.0 * mean_velocity[k] - v_start[k];
|
||
let accel = (v_end - v_start[k]) / dt;
|
||
let tau = fraction * dt;
|
||
d_sub.push(d_n[k] + v_start[k] * tau + 0.5 * accel * tau * tau);
|
||
ddot_sub.push(v_start[k] + accel * tau);
|
||
}
|
||
(d_sub, ddot_sub)
|
||
}
|
||
};
|
||
self.set_geometry(&d_sub, &ddot_sub)?;
|
||
self.step()?;
|
||
}
|
||
Ok(())
|
||
}
|
||
|
||
/// The fluid's traction on every Inner (wall) face, in the patch's
|
||
/// Inner-face order — the Robin wall's datum for the next pass.
|
||
pub fn inner_tractions(&self) -> Vec<[f64; 2]> {
|
||
self.solver
|
||
.patch()
|
||
.wall_tractions(&self.field.patch, PatchSide::Inner, self.solver.time())
|
||
.into_iter()
|
||
.map(|(_, _, _, t)| t)
|
||
.collect()
|
||
}
|
||
/// Put the Robin wall (impedance `alpha`, datum per Inner face) on the
|
||
/// patch, or remove it.
|
||
pub fn set_robin(&mut self, alpha: f64, datum: Option<Vec<[f64; 2]>>) {
|
||
self.solver
|
||
.patch_mut()
|
||
.set_robin_wall(datum.map(|d| RobinWall { alpha, datum: d }));
|
||
}
|
||
|
||
/// Drag and lift on cylinder + flag from the patch's wall stress.
|
||
pub fn measure_force(&self) -> (f64, f64) {
|
||
let f = self
|
||
.solver
|
||
.patch()
|
||
.surface_force(&self.field.patch, PatchSide::Inner, self.solver.time())
|
||
.total();
|
||
(f[0], f[1])
|
||
}
|
||
|
||
/// The wall faces' tractions transferred to the flag's wetted nodes
|
||
/// at geometry `d`: `(nodal forces, conservation defect, faces used)`.
|
||
/// Faces on the cylinder proper are skipped; the fillets' load goes
|
||
/// to the nearest (clamped) root nodes.
|
||
pub fn sample_load(&self, d: &[f64]) -> (Vec<(NodeId, Vector3<f64>)>, f64, usize) {
|
||
let mut faces = Vec::new();
|
||
let mut tractions: Vec<Vector3<f64>> = Vec::new();
|
||
for (centre, normal, len, traction) in self.solver.patch().wall_tractions(
|
||
&self.field.patch,
|
||
PatchSide::Inner,
|
||
self.solver.time(),
|
||
) {
|
||
let on_cylinder =
|
||
((centre[0] - CYL_CENTRE[0]).powi(2) + (centre[1] - CYL_CENTRE[1]).powi(2)).sqrt()
|
||
< CYL_R + 1e-9;
|
||
if on_cylinder {
|
||
continue;
|
||
}
|
||
faces.push(FluidFace {
|
||
centroid: Vector3::new(centre[0], centre[1], 0.0),
|
||
normal: Vector3::new(normal[0], normal[1], 0.0),
|
||
area: len,
|
||
});
|
||
tractions.push(Vector3::new(traction[0], traction[1], 0.0));
|
||
}
|
||
let nodes_now = self.interface.deformed_nodes(d);
|
||
let surface = WettedSurface::build(&faces, &nodes_now).expect("transfer build");
|
||
let nodal = surface.transfer_load(&faces, &tractions).unwrap();
|
||
let total_sampled: Vector3<f64> =
|
||
faces.iter().zip(&tractions).map(|(f, t)| t * f.area).sum();
|
||
let total_nodal: Vector3<f64> = nodal.iter().sum();
|
||
let conservation = (total_nodal - total_sampled).norm() / total_sampled.norm().max(1e-30);
|
||
(
|
||
self.interface
|
||
.wetted
|
||
.iter()
|
||
.zip(nodal)
|
||
.map(|(&id, f)| (id, f))
|
||
.collect(),
|
||
conservation,
|
||
faces.len(),
|
||
)
|
||
}
|
||
|
||
/// The wall pressure's roughness along the flag: over the flag's
|
||
/// wall faces in order, `Σ|t_n(f+1) − t_n(f)| / Σ|t_n(f)|` with `t_n`
|
||
/// the normal traction, and the count of sign changes of the
|
||
/// face-to-face difference — a checkerboard reads ≫ 1 with a sign
|
||
/// change at every face.
|
||
pub fn wall_roughness(&self) -> (f64, usize, f64, f64) {
|
||
let mut tn: Vec<f64> = Vec::new();
|
||
for (centre, normal, _, traction) in self.solver.patch().wall_tractions(
|
||
&self.field.patch,
|
||
PatchSide::Inner,
|
||
self.solver.time(),
|
||
) {
|
||
let on_cylinder =
|
||
((centre[0] - CYL_CENTRE[0]).powi(2) + (centre[1] - CYL_CENTRE[1]).powi(2)).sqrt()
|
||
< CYL_R + 1e-9;
|
||
if !on_cylinder {
|
||
tn.push(traction[0] * normal[0] + traction[1] * normal[1]);
|
||
}
|
||
}
|
||
let total: f64 = tn.iter().map(|v| v.abs()).sum();
|
||
let mut jumps = 0.0;
|
||
let mut flips = 0usize;
|
||
let mut prev_diff = 0.0;
|
||
for w in tn.windows(2) {
|
||
let d = w[1] - w[0];
|
||
jumps += d.abs();
|
||
if prev_diff * d < 0.0 {
|
||
flips += 1;
|
||
}
|
||
prev_diff = d;
|
||
}
|
||
let max = tn.iter().fold(0.0_f64, |m, v| m.max(v.abs()));
|
||
(
|
||
jumps / total.max(1e-300),
|
||
flips,
|
||
max,
|
||
total / tn.len().max(1) as f64,
|
||
)
|
||
}
|
||
|
||
/// The patch's pressure level (mean over its cells) and the wall's
|
||
/// net volume flux from the imposed velocity (`Σ u_wall · S_out` over
|
||
/// the Inner faces, positive = fluid leaving the patch through the
|
||
/// wall), against the inner ring's enclosed-area rate would be the
|
||
/// mesh's own; both must match for a consistent moving wall.
|
||
pub fn level_and_wall_flux(&self) -> (f64, f64, f64, f64, f64) {
|
||
let mesh = self.solver.patch().mesh();
|
||
let p = &self.field.patch.p;
|
||
let level = p.iter().sum::<f64>() / p.len().max(1) as f64;
|
||
let wall = self.shared.read().unwrap();
|
||
let (poly_flux, _) = wall.net_flux();
|
||
let poly_area = wall.area();
|
||
let (mut flux, mut area) = (0.0, 0.0);
|
||
for (f, face) in mesh.faces().iter().enumerate() {
|
||
if mesh.side(f) != Some(PatchSide::Inner) {
|
||
continue;
|
||
}
|
||
// Inner side: S points from the body into the fluid (the
|
||
// neighbour is the cell), so −S is out of the fluid.
|
||
let sign = if face.neigh.is_some() { 1.0 } else { -1.0 };
|
||
let s_in = [sign * face.s[0], sign * face.s[1]];
|
||
let (u, v) = wall.velocity_at(face.centre[0], face.centre[1]);
|
||
// Volume flux INTO the fluid = u_wall · S_into_fluid.
|
||
flux += u * s_in[0] + v * s_in[1];
|
||
area += (s_in[0] * s_in[0] + s_in[1] * s_in[1]).sqrt();
|
||
}
|
||
(level, flux, area, poly_flux, poly_area)
|
||
}
|
||
|
||
/// The current patch becomes the warm start of the next step's
|
||
/// regenerations (called after a committed step).
|
||
pub fn commit_base(&mut self) {
|
||
if self.warm_sweeps > 0 {
|
||
self.warm_base = Some(self.solver.patch().mesh().clone());
|
||
}
|
||
}
|
||
|
||
pub fn snapshot(&self) -> (OversetSolverState, OversetField) {
|
||
(self.solver.snapshot(), self.field.clone())
|
||
}
|
||
|
||
pub fn restore(&mut self, saved: &(OversetSolverState, OversetField)) {
|
||
self.solver.restore(&saved.0);
|
||
self.field = saved.1.clone();
|
||
}
|
||
|
||
pub fn time(&self) -> f64 {
|
||
self.solver.time()
|
||
}
|
||
}
|