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Introduction to Modeling
Fluid Dynamics in MATLAB
1
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Different Kind of Problem
Can be particles, but lots of them
Solve instead on a uniform grid

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No Particles => New State
Particle
Mass
Velocity
Position
Fluid
Density
Velocity Field
Pressure
Viscosity
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No Particles => New Equations
Navier-Stokes equations for viscous,
incompressible liquids.
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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What goes in must come out
Gradient of the velocity field= 0
Conservation of Mass
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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Time derivative
Time derivative of velocity field
Think acceleration
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
a
u
~
c
c
t
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Advection term
Field is advected through itself
Velocity goes with the flow
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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Diffusion term
Kinematic Viscosity times Laplacian of u
Differences in Velocity damp out
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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Pressure term
Fluid moves from high pressure to low pressure
Inversely proportional to fluid density,

( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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External Force Term
Can be or represent anythying
Used for gravity or to let animator stir
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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Navier-Stokes
How do we solve these equations?
( ) f u u u u
u
+ V V + V =
= V
p
t

v
1
0
2
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12
Discretizing in space and time
We have differential equations
We need to put them in a form
we can compute

Discetization Finite Difference
Method
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Discretize in Space
X Velocity
Y Velocity
Pressure
Staggered Grid vs Regular
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Discretize the operators
Just look them up or derive them
with multidimensional Taylor
Expansion
Be careful if you used a
staggered grid
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Example 2D Discetizations
-1 0 1
1
-1
1 -4 1
1
1
Divergence Operator
Laplacian Operator
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Make a linear system
It all boils down to
Ax=b.
(
(
(
(
(
(

=
(
(
(
(
(
(

(
(
(
(
(
(

d d
d d
n n
xn n
x
b
b
x
x
x

2
1
2
1
? ?
? ?
? ? ?
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Simple Linear System
Exact solution takes O(n
3
) time
where n is number of cells
In 3D k
3
cells where k is
discretization on each axis
Way too slow O(n
9
)
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Need faster solver
Our matrix is symmetric and
positive definite.This means we
can use
Conjugate Gradient
Multigrid also an option better
asymptotic, but slower in
practice.
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Time Integration
Solver gives us time derivative
Use it to update the system state
U(t+t)
U
t

U(t)
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Discetize in Time
Use some system such as
forward Euler.
RK methods are bad because
derivatives are expensive
Be careful of timestep
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Time/Space relation?
Courant-Friedrichs-
Lewy (CFL)
condition
Comes from the
advection term

A
< A
u
x
t
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Now we have a CFD simulator
We can simulate fluid using only
the aforementioned parts so far
This would be like Foster &
Metaxas first full 3D simulator


What if we want it real-time?
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Time for Graphics Hacks
Unconditionally stable advection
Kills the CFL condition
Split the operators
Lets us run simpler solvers
Impose divergence free field
Do as post process
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Semi-lagrangian Advection
CFL Condition limits
speed of information
travel forward in time
Like backward Euler,
what if instead we
trace back in time?

p(x,t) back-trace
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Divergence Free Field
Helmholtz-Hodge Decomposition
Every field can be written as




w is any vector field
u is a divergence free field
q is a scalar field
q V + = u w
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Helmholtz-Hodge
STAM 2003
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Divergence Free Field
We have w and we want u




Projection step solves this equation
q
q
q
2
2
V = V
V + V = V
V + =
w
u w
u w
q V = w u
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Ensures Mass Conservation
Applied to field before advection
Applied at the end of a step

Takes the place of first equation
in Navier-Stokes
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Operator Splitting
We cant use semi-lagrangian
advection with a Poisson solver
We have to solve the problem in
phases

Introduces another source of
error, first order approximation

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Operator Splitting
0 = V u
( )u u V u
2
V +v
p V

1
f +
=
t
u
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Operator Splitting
1. Add External Forces
2. Semi-lagrangian
advection
3. Diffusion solve
4. Project field

f +
( )u u V
u
2
V +v
0 = V u
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Operator Splitting
u
2
V +v
f +
( )u u V
W
0
W
1
W
2
W
3
W
4

u(x,t)
u(x,t+t)
0 = V u
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Various Extensions
Free surface tracking
Inviscid Navier-Stokes
Solid Fluid interaction
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Free Surfaces
Level sets
Loses volume
Poor surface detail
Particle-level sets
Still loses volume
Osher, Stanley, & Fedkiw, 2002
MAC grid
Harlow, F.H. and Welch, J.E., "Numerical
Calculation of Time-Dependent Viscous
Incompressible Flow of Fluid with a Free Surface",
The Physics of Fluids 8, 2182-2189 (1965).

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Free Surfaces
+
-
+ +
+ +
+
+
+
+
+ +
+
+
+
+
+
+
+
+
+
+ +
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
+
0
0
-
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-
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- -
-
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- -
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- -
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MAC Grid Level Set
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Inviscid Navier-Stokes
Can be run faster
Only 1 Poisson Solve needed
Useful to model smoke and fire
Fedkiw, Stam, Jensen 2001

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Solid Fluid Interaction
Long history in CFD
Graphics has many papers on 1
way coupling
Way back to Foster & Metaxas, 1996
Two way coupling is a new area
in past 3-4 years
Carlson 2004
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Where to get more info
Simplest way to working fluid
simulator (Even has code)
STAM 2003
Best way to learn enough to be
dangerous
CARLSON 2004
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References
CARLSON, M., Rigid, Melting, and Flowing Fluid, PhD Thesis, Georgia Institute of Technology, Jul.
2004.

FEDKIW, R., STAM, J., and JENSEN, H. W., Visual simulation of smoke, in Proceedings of ACM
SIGGRAPH 2001, Computer Graphics Proceedings, Annual Conference Series, pp. 1522, Aug. 2001.

FOSTER, N. and METAXAS, D., Realistic animation of liquids, Graphical Models and Image Processing,
vol. 58, no. 5, pp. 471483, 1996.

HARLOW, F.H. and WELCH, J.E., "Numerical Calculation of Time-Dependent Viscous Incompressible
Flow of Fluid with a Free Surface", The Physics of Fluids 8, 2182-2189 (1965).

LOSASSO, F., GIBOU, F., and FEDKIW, R., Simulating water and smoke with an octree data structure,
ACM Transactions on Graphics, vol. 23, pp. 457462, Aug. 2004.

OSHER, STANLEY J. & FEDKIW, R. (2002). Level Set Methods and Dynamic Implicit Surfaces. Springer-
Verlag.

STAM, J., Real-time fluid dynamics for games, in Proceedings of the Game Developer Conference,
Mar. 2003.