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Transfinite
Interpolation (TFI)
Generation Systems
3.1
3.2
3.3
3.4
Introduction
Grid Requirements
Transformations and Grids
Transfinite Interpolation (TFI)
Boolean Sum Formulation Recursion Formulation
Blending Function Conditions
3.5
3.6
Robert E. Smith
3.7
3.8
3.1 Introduction
This chapter describes an algebraic grid generation produced called transfinite interpolation (TFI). It is
the most widely used algebraic grid generation procedure and has many possible variations. It is the most
often-used procedure to start a structured grid generation project.
The advantage of using TFI is that it is an interpolation procedure that can generate grids conforming
to specified boundaries. Grid spacing is under direct control. TFI is easily programmed and is very
computationally efficient.
Before discussing TFI, a background on grid requirements and the concepts of computational and
physical domains is presented. The general formulation of TFI is described as a Boolean sum and as a
recursion formula. Practical TFI for linear, Lagrangian, and Hermite cubic interpolation is described.
Methods for controlling grid point clustering in the application of TFI are discussed. Finally, a practical
TFI recipe to conform an existing grid to new specified boundaries is described.
domain, discretizing the governing equations relative to the grid, and applying a numerical solution
algorithm to the discrete approximation of the governing equations. The result is an evaluation of the
solution at the grid points. Two key ingredients necessary for obtaining an accurate and efficient solution
are (1) the numerical solution algorithm, and (2) the grid.
A grid generation technique should be as efficient as possible to achieve the desired characteristics.
However, the importance of a particular characteristic or combination of characteristics can outweigh
alone in determining which grid generation technique is applied to a particular problem.
The most efficient grid generation techniques are algebraic and are based on the application of
interpolation formulas. Algebraic grid generation techniques relate a computational domain, which is a
rectangular parallelepiped (a square in two dimensions and a box in three dimensions), to an arbitrarily
shaped physical domain with corresponding sides. The computational domain is a mathematical abstraction. The physical domain is the bounded continuum domain where a numerical solution to a system
of governing equations of motion is desired.
A side in the computational domain can map into a line or a point in the physical domain, in which
case a singularity occurs in the mapping. Singularities can pose problems for the computation of numerical solutions when the governing equations are expressed in differential form. However, grid singularities
usually do not cause problems when the governing equations are expressed in integral form.
A single block (square or box in the computational domain and deformed block in the physical domain)
is not usually sufficient to fit to boundaries of a complex solution domain. Therefore, the complex
domains must be divided into subdomains and multiple blocks used to cover the subdomains. Depending
on the solution technique used to solve the governing equations, the grid points at the boundaries of
adjoining blocks must be contiguous.
TFI is a multivariate interpolation procedure. When TFI is applied for algebraic grid generation, a
physical grid is constrained to lie on or within specified boundaries. TFI is a Boolean sum of univariate
interpolations in each of the computational coordinates. Virtually any univariate interpolation (linear,
quadratic, spline, etc.) can be applied in a coordinate direction. Therefore, there are a limitless number
of possible variations of TFI that can be created by using different combinations and forms of the
univariate interpolations. Often for a particular application, a high order and more sophisticated interpolation is used in one coordinate direction, which we will call the primary coordinate direction, and a
low-order interpolation, such as linear interpolation, is used in the remaining coordinate directions.
X ( , , ) = y( , , )
z(, , )
0 1 0 1 and 0 1
A discrete subset of the vector-valued function X, ( , J , K) is a structured grid for
0 I =
I 1
J 1
K 1
1
1 0 I =
1 0 J =
I 1
J 1
K 1
where
I = 1, 2, 3,..., I J = 1, 2, 3,..., J K = 1, 2, 3,..., K
1999 CRC Press LLC
(3.1)
The relationships between the indices I, J, and K and the computational coordinates ( , , ) uniformly
discretize the computational domain and imply a relationship between discrete neighboring points. The
transformation to the physical domain produces the actual grid points, and the relationship of neighboring grid points is invariant under the transformation (Figure 3.2). A grid created in this manner is
called a structured grid. TFI provides a single framework creating the function X( , , ).
interpolation functions are a linear combination of known (user-specified) information in the physical
domain (positions and derivatives) for given values of the computational coordinate and coefficients that
are blending functions whose independent variable is the computational coordinate. The general expressions of the univariate interpolations for three dimensions are
L
U( , , ) = in ( )
n X (i , , )
n
i =1 n = 0
Q
V( , , ) = m
j ( )
m X , j ,
m
j =1 m = 0
N
W( , , ) =
in ( )
(3.2)
l X ( , , k )
l
k =1l = 0
( ) =
j
m m
j
= ii nn
jj mm
l kl ( k )
l
= kk ll
(3.3)
UW = WU = in ( ) kl ( )
ln X(i , , k )
i =1 k =1 l = 0 n = 0
L M
( ) ()
UV = VU =
in
i =1 j =1 m = 0 n = 0
Q
M N
VW = WV =
( ) ( )
m
j
j =1 k =1 m = 0 l = 0
L M N
m
j
UVW =
kl
nm X , j ,
m
lm X , j , k
l m
in ( ) mj () kl ( )
i =1 j =1 k =1 l = 0 m = 0 n = 0
(3.4)
lmn X i , j , k
l
The commutability in the above tensor products is assumed in most practical situations, but in general,
it is not guaranteed. It is dependent upon the commutability of the mixed partial derivatives.
The Boolean sum of the three interpolations is
X( , , ) = U V W = U + V + W UV UW VW + UVW
(3.5)
Alternately, TFI can be expressed as a three-step recursion formula. The first step is to express the
univariate interpolation in one coordinate direction
L
X1 ( , , ) = in ( )
n X (i , , )
(3.6)
i =1 n = 0
The second and third steps use the preceding step. That is
M Q
m X , j ,
m X1 , j ,
X2 ( , , ) = X1 ( , , ) + m
j ( )
m
m
j =1 m = 0
N R
l X ( , , k ) l X2 ( , , k )
X ( , , ) = X2 ( , , ) + kl ( )
m
l
k =1 l = 0
(3.7)
(3.8)
The linear blending functions that satisfy the function conditions in Eq. 3.3 are
10 ( ) = 1
20 ( ) =
10 () = 1
20 () =
10 ( ) = 1
20 ( ) =
FIGURE 3.3
W( I , J , K ) = (1 K )X( I , J , 0) + I X( I , J ,1)
J = 1, , J ,
K = 1, , K ) with linear
X( I , J , K ) = U( I , J , K ) + V( I , J , K ) + W( I , J , K ) UW( I , J , K )
UV( I , J , K ) VW( I , J , K ) + UVW( I , J , K )
(3.9)
FIGURE 3.4
a general formula for the blending functions can be used. The formula for a computational coordinate,
for instance, the coordinate is
i i ( i )
i0
i =1
( ) =
(3.10)
i i (i i )
i =1
U( , , ) = i0 ( )
0 X( , , )
i =1
= i0 ( )X( , , )
(3.11)
i =1
The Lagrange blending function allows a polynomial interpolation of degree L 1 through L points and
satisfies the cardinal condition a i0 ( x i ) = d ii . It is not recommended that high-degree Lagrangian blending functions be used for grid generation because of the large quantity of geometric data that must be
supplied and the potential excessive movement in the interpolation. Using L = 2 results in the linear
interpolation above being a special case of Lagrangian interpolation.
U( , , ) = in ( )
i =1 n = 0
10
( )X(1 ,, )
+ 11
n X(i , , )
n
X( , , )
X( , , )
( ) 1 + 20 ( )X(2 ,, ) + 12 ( ) 2
(3.12)
FIGURE 3.5
FIGURE 3.6
where
10 ( ) = 2 3 3 2 + 1
11 ( ) = 3 2 2 +
20 ( ) = 2 3 + 3 2
12 ( ) = 3 2
The outward derivatives in the coordinate direction can be specified by the cross-product of the
tangential surface derivatives in the and coordinate directions at = 0 and = 1. This effectively
creates the trajectories of grid curves that are orthogonal to the surfaces X(1, , ) and X(2, , ). That is,
X(1 , , )
X(1 , , ) X(1 , , )
=
1 (, )
(3.13)
and
X(2 , , )
X(2 , , ) X(2 , , )
=
2 (, )
(3.14)
The scalar functions 1( h , z ) and 2( h , z ) are magnitudes of the outward derivatives in the
direction at X ( x 1 h, z ) and X ( x 2 h, z ). The derivative magnitude parameters can be constants or surface
functions. Increasing the magnitudes of the derivatives extends the orthogonality effect further into the
physical domain between the two opposing surfaces. However, the magnitudes can be excessively large,
resulting in the interpolations equation being multivalued. This is manifested by grid crossover and is
remedied by lowering the magnitudes. Note that when the interpolations in the and directions are
applied, the orthogonality effect achieved with the above application of Hermite interpolation in the
direction can be altered.
(3.15)
Under the application of these functions, uniformly spaced grid points in the computational domain
map to nonuniformly spaced grid points in the control domain enclosed by the unit cube (Figure 3.7).
The intermediate coordinates u, v, and w must be single-valued functions of f(,, ), g(,, ), and
h(,, ), respectively.
The blending functions are redefined with the intermediate coordinates as the independent variables.
That is a in ( u ), b mj ( v ) and g kl ( w ) .
There are many practical considerations to be exercised at this point. The overall TFI formulation will
shape a grid to fit the six boundary surfaces. Control functions that manipulate the grid point spacing
are applied. These functions can be simple and be applied universally, or they can be complex and blend
from one form to another, transversing from one boundary to an opposite boundary. It may be desirable
for a control function to cause concentration of grid points at the extremes of the computational
coordinate or somewhere in between. A low slope in a control function leads to grid concentration and
high slope leads to grid dispersion. Several control functions are described.
FIGURE 3.7
FIGURE 3.8
r=
e A 1
eA 1
(3.16)
function produces concentration or dispersion in the discrete values of the dependent variable. Often
the r2 value (r1 = 0) at r or the r N 1 value ( r N = 1 ) at 1 r is specified, and the value of A that
causes the function to pass through the point ( r, r 2 ) or ( 1 r, r N 1 ) is determined with a
NewtonRaphson iteration. This creates a control function that specifies the spacing between the first
and second grid point or the next to last and last grid point in a coordinate direction. N is the index
for the last grid point.
A3
e
1
e A2 1
0 A3
0 r A1
r = A1
A4
A3
1 A3
1
e 1
A1 r 1
r = A1 + (1 A1 )
A3 1
A4 chosen
A4
Dr( A3 )
(3.17)
C1
The user-specified parameters in Eq. 3.17 are A1, A2, and A3. The parameter A4 is computed. A3 and
A1 are the abscissa and ordinate of a point inside the unit square through which the function will pass.
A2 and A4 are exponential parameters for the two segments. The derivative condition at the joining of
the two exponential functions is satisfied by applying a NewtonRaphson iteration that adjusts the value
of the parameter A4. The double exponential control function provides added spacing control as compared
to the single exponential function for concentrations near (0, 0) or (1, 1). Also, the double-exponential
function allows a grid concentration in the interior or the domain (Figure 3.9). The concept of the doubleexponential function can be extended to an arbitrary number of segments, but it is recommended to
keep the number of segments small.
r = 1+
tanh B( 1)
tanh B
(3.18)
sinh C(1 )
sinh C
0 1 0 r 1
(3.19)
where the parameters B and C govern the control functions and their derivatives. The hyperbolic tangent
function in many references is a preferred control function for clustering grid points in a boundary-layer
for computational fluid dynamics applications.
FIGURE 3.11
I =
sI =
I 1
N 1
( x I, J , K x I 1, J , K )2 + ( yI, J , K y1, J , K )2 + (z I, J , K z I 1, J , K )2 + sI 1
rI =
(3.20)
sI
s N
Note that if the number of grid points to be used in the grid generation formula (i.e., TFI) is N , there
is no need to compute the independent variable I. If, however, the number of grid points in the coordinate
direction is different from N , then the dependent variable rI must be interpolated from the normalized
approximate arclength evaluation, and the independent variable values I are necessary.
(1 t1 ())s1 ( ) + t1 ()s2 ( )
1 ( s2 ( ) s1 ( ))(t2 () t1 ())
(1 s1 ( ))t1 () + s1 ( )t2 ()
v=
1 (t2 () t1 ())( s2 ( ) s1 ( ))
(3.21)
X1 ( I , J , K ) = X ( I , J , K )
[(
) (
)]
[(
)]
[(
)]
+ 10 ( ) X (1, J , K ) X (1, J , K ) + 20 ( ) X I, J , K X I, J , K
X2 ( I , J , K ) = X1 ( I , J , K )
+ 10 ( )[ X ( I , J ,1) X2 ( I , J ,1)] + 20 ( ) X I , J , K X2 I , J , K
( ) = 1 u1 ( )
20 ( ) = u2 ( )
10
10 () = 1 v1 ()
20 () = v2 ()
10 ( ) = 1 w1 ( )
20 ( ) = w2 ( )
u1 ( ) =
e C1 1
e C1 1
u2 ( ) =
e C2 1
e C2 1
v1 () =
e C3 1
e C3 1
v2 () =
e C4 1
e C4 1
w1 ( ) =
e C 5 1
e C5 1
w2 ( ) =
e C6 1
e C6 1
where the constants C1, C2, C6 specify how far into the original grid the effect of the six boundary
surfaces is carried.
3.8 Summary
TFI generates grids that conform to specified boundaries. The recipe is a Boolean sum of univariate
interpolations, and it is also expressed as a recursion formula. Since any univariate interpolation subject
to conditions can be applied in a coordinate direction, there are an infinite number of variations of
TFI. However, low-order univariate interpolation functions are the most practical. Lagrangian and
Hermite cubic formulae have been presented.
Grid spacing control can be best achieved by creating intermediate variables to be used in the interpolation functions. The intermediate variables are computed with control functions whose independent
variables are computational coordinates and have adjustable parameters affecting spacing. Several examples of practical control functions have been presented.
A variation of TFI to conform an existing grid to new specified boundaries has also been represented.
This minor variation is highly useful in a practical grid generation environment.
References
1. Gordon, W.N. and Hall, C.A., Construction of curvilinear coordinate systems and application to
mesh generation, International J. Num. Methods in Eng., Vol. 7, pp. 461477, 1973.
2. Eriksson, L.-E., Three-dimensional spline-generated coordinate transformations for grids around
wing-body configurations, Numerical Grid Generation Techniques, NASA CP 2166, 1980.
3. Eriksson, L.-E., Generation of boundary conforming grids around wing-body configurations using
transfinite interpolation, AIAA J., Vol. 20, pp. 13131320, 1982.
4. Eriksson, L.-E., Transfinite Mesh Generation and Computer-Aided Analysis of Mesh Effects, Ph.D.
Dissertation, University of Uppsala, Sweden, 1984.
5. Smith, R.E. and Wiese, M.R., Interactive Algebraic Grid Generation, NASA TP 2533, 1986.
6. Eiseman, P.R. and Smith, R.E., Applications of algebraic grid generation, AGARD Specialist Meeting
Applications of Mesh Generation to Complex 3-D Configurations, 1989.
7. Samareh-Abolhassani, J., Sadrehaghighi, I., Smith, R.E., and Tiwari, S.N., Applications of
Lagrangian blending functions for grid generation around airplane geometries, J. Aircraft, 27(10),
pp. 873877, 1990.
8. Soni, B.K., Two- and three-dimensional grid generation for internal flow applications, AIAA Paper
85-1526, 1985.