simulation and animation
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Simulation and Animation. Fluids. Fluid simulation. Content Fluid simulation basics Terminology Navier-Stokes equations Derivation and physical interpretation Computational fluid dynamics Discretization Solution methods . Fluid simulation. Simulation of the behavior of fluid flow - PowerPoint PPT PresentationTRANSCRIPT
computer graphics & visualization
Simulation and Animation
Fluids
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Content
– Fluid simulation basics • Terminology • Navier-Stokes equations• Derivation and physical interpretation
– Computational fluid dynamics• Discretization• Solution methods
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Simulation of the behavior of fluid flow
– Interaction and forces between fluid particles and solid bodies
• Result of physical properties of fluids– Viscosity generates frictional forces
– External forces• Gravitation and other forces
– Flow models• Laminar flow
– Fluid consists of individual layers sliding over each other• Turbulent flow
– Particles in different layers become mixed due to low friction
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulationFlow models
Laminar flow: no fluid exchange between layers
Turbulent flow: no distinct layers, fluid exchange free
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Flow movement depends on
– Viscous force– Inertial force (Trägheitskraft)
• Described by Reynolds number, which depends on– Velocity of the fluid, viscosity and density , characteristic length D of the flow
region
• Reynolds number (Re)– The tendency of flow to be laminar (Re is very small) or turbulent (Re is very
large)• laminar if Re < 2300 • transient for 2300 < Re < 4000 • turbulent if Re > 4000
Re = D V /
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Approaches to describe flow fields
– Eulerian• Focus is on particular points in the flow occupied by the
fluid• Record state of a finite control volume around that point• Dye injection for visualizing flows
– Lagrangian• Consider particles and follow their path through the flow• Record state of the particle along the path• Particle tracing for visualizing flows
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Basic equations of fluid dynamics
– Rely on• Physical principles
– Conservation of mass– F=ma– Conservation of energy
• Applied to a model of the flow– Finite control volume approach– Infinitesimal particle approach
• Derivation of mathematical equations– Continuity equation– Navier-Stokes equations
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Models of the flow
– Finite control volume
• 8
Control volume V
Control surface S
V
Fixed volume, fluid moves through it
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• Models of the flow
– Infinitesimal fluid element
dV
Fixed fluid element, fluid moves through it
Element moving along the streamlines
Volume dV
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Flow simulationGoverning equations of fluid flow
– Finite control volume approach• Apply physical principals to fluid in control volume and passing
through control surface• Yields equations in integral form• Distinguish between conservation (fixed volume) and
nonconservation (moving volume) form
– Infinitesimal fluid element• Apply physical principals to infinitesimal fluid particle• Yiels equations in partial differential form• Distinguish between conservation (fixed particle) and
nonconservation (moving particle) form
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• A moving fluid element
x
z
y
V1
V2
t = 1
t = 2
V=ui+vj+wk
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• The time rate of change of density
– Particle moves from 1 to 2– Assume density (x,y,z,t) to be continuous and ...– Thus, Taylor series expansion can be performed
– Dividing by (t2-t1) ignoring higher order termsand taking the limit:
...)()()()( 121
121
121
121
12
ttt
zzz
yyy
xxx
DtD
tttt
12
12
12
lim
tzw
yv
xu
DtD
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• The substantial derivative
– Time rate of change of density when moving from 1 to 2– Physically and numerically different to the time rate of change of density
at fixed point (/t) (local derivative)– With
zk
yj
xiand
zw
yv
xu
tDtD
DtD
tttt
12
12
12
lim
)(
VtDt
D
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Fluid simulation• The substantial derivative
– V: convective derivative• Time rate of change due to movement to position with different properties
– D/Dt applied to any variable yields change due tolocal fluctuations and time and spatial fluctuations
– Can be applied to any flow field variable • Pressure (p), temperatur (T), velocity (V) etc.
)(
VtDt
D
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• The continuity equation
– Physical principal: conservation of mass
– Finite fixed control volume:
– Infinitesimal fluid particle
Net mass flow out of control volume through surface
Time rate of decrease of mass inside control volume
=
Net mass flow out of element
Time rate of mass decrease inside element
=
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• The continuity equation
– The model: infinitesimal element fixed in space• Consider mass flux through element
dx
dy
dz
dydzu)( dydzdxxuu ))((
dxdzv)(dxdyw)(
dxdydzzww ))((
dxdzdyyvv ))((
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations • The continuity equation
– Infinitesimal element fixed in space• Net outflow in x-direction (equal for y/z-direction):
• Net mass flow:
• Time rate of mass increase:
dxdydzxudydzudydzdx
xuu
)()())()((
dxdydzzw
yv
xuflowmassnet
)()()(
dxdydzt
increasemassofratetime
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations • The continuity equation
0)()()(
zw
yv
xu
t
0)(
Vt
• The partial differential form of the continuity equation • Other models yield other forms of the continuity equation,
which can be obtained from each other
Time rate of mass increase inside element
Net mass flow out of element+
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations • The momentum equation (Impulsgleichung)
– Physical principal: Newton´s second law F=ma– Consider an infinitesimal moving element
• Sketch sources of the forces acting on it• Consider x/y/z components separately• Fx = max
– First consider left side of F=ma• F = FB + FS
• Sum of body forces and surface forces acting on element
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• The momentum equation
– F = FB + FS (body forces and surface forces)• Body forces
– Act at a distance (Gravitational, electric, magnetic forces)– FB = fx (dxdydz)
• Surface forces act– Act on surface of element– Can be split into pressure and viscous forces FS = FPress + FVis
» Pressure force: imposed by outside fluid, acting inward and normal to surface
» Viscous force: imposed by friction due to viscosity, result in shear and normal stress imposed by outside fluid
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Sketch of forces (x-direction only)
– Convention: positive increases of V along positive x/y/z
X
Y
Z
0
1
2
3
4
5
6
7 P (pressure force)p‘
Sy (shear stress)
sy‘
nx (normal stress)
nx‘ sz
sz‘
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Surface forces
• 22
X
Y
yx
X
Y
xx
Time rate of change of shear deformation Time rate of change of shear volume
Shear stress Normal stress
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Surface forces
– On face 0145:
– On face 2367:
• Equivalent on faces 0246 and 1357 for zx
– On face 0123:
– On face 4567:
dxdzyx )(
dxdzdyyyx
yx )(
dydzdxxxx
xx )(
dydzdx
xpp )(
dydzxx )( dydzp)(
X0
1
2
3
4
5
6
7 P (pressure force)p‘
Sy (shear stress)
sy
‘
nx (normal stress)
nx‘
sz
sz
‘
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Total force on fluid element =
dxdydzz
dxdydyy
dydzdxx
dydzdxxppp
zxxzx
zxyxyx
yx
xxxx
xx
])[(])[(
])[()]([
dxdydzfdxdydzzyxx
pF xzxyxxx
x
][
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Consider right side of F=ma
– Mass of fluid element
– Acceleration is time rate of change of velocity (Du/Dt)
– Thus (equivalent for v/w):
dxdydzm
DtDuax
xzxyxxx fzyxx
puVtu
DtDu
)(
The Navier-Stokes equations
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations
• What you typically see in the literature is
– is the only „strange“ term here• : molecular viscosity• In Newtonian fluids, shear stress is proportional to velocity gradient
– [shear stress] = [strain rate]– Described by Navier-Stokes equations
• Non-Newtonian fluids obey different property, e.g. blood, motor oil– Viscosity is not a constant– Depends on temperature and pressure
xx fupuVtu 2)(
u2
xzxyxxx fzyxx
puVtu
DtDu
)(
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• From Stokes we know (let‘s just believe it here)
zwV
yvV
xuV
zz
yy
xx
2)(
2)(
2)(
zv
yw
xw
zu
yu
xv
zyyz
zxxz
yxxy
: molecular viscosity : second or bulk viscosity
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Incompressible fluids
– = constant
– = constant• can be taken outside of partial derivatives in NSE
0: VequationcontinuityDivergence free (all -terms on previous page vanish)
xfxw
zu
zyu
xv
yxu
xp
DtDu
)()(2 2
2
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• With
– We obtain
zxw
yxv
xu
xu
22
2
2
2
2
2
...
)(
2
2
2
2
2
2
2
deqfuxp
fzu
yu
xu
xp
DtDu
x
x
Sketch of derivation:• Write div(V)=0 and resolve
for u/x• Partially differentiate both
sides with respect to x• Add 2u/x2 on both sides
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes equations• Euler equations
– Inviscid flow – no viscosity– Only continuity and momentum equation
• 30
xfpuVtu )(
0)( Vt
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Solution methods for governing equations– Governing equations have been derived independent of flow
situation, e.g. flow around a car or inside a tube– Boundary (and initial) conditions determine specific flow
case• Determine geometry of boundaries and behavior of flow at
boundaries– Different kinds of boundary conditions exist– Hold at any time during simulation
• Lead to different solutions of the governing equations– Exact solution exists for specific conditions
• Initial conditions specify state to start with
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Solution methods of partial differential equations– Analytical solutions
• Lead to closed-form epressions of dependent variables• Continuously describe their variation
– Numerical solutions• Based on discretization of the domain• Replace PDEs and closed form expression by approximate
algebraic expressions– Partial derivatives become difference quotients – Involves only values at finite number of discrete points in the
domain• Solve for values at given grid points
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Discretization – Layout of grid points on a grid
• Location of discrete points across the domain– Arbitrary grids can be employed
• Structured or unstructured grids– Implicit or explicit representation of topology (adjacency information)
• Uniform grids: uniform spacing of grid points in x and y
y
x
x
y Pij
Pij+1
Pij-1
Pi+1j
Pi+1j+1
Pi+1j-1
Pi-1j
Pi-1j+1
Pi-1j-1
y = x
CFD – Computational Fluid Dynamics
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Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Finite differences– Approximate partial derivatives by finite differences
between points
– Derived by considering the Taylor expansion
sdifferencecentralxOxuu
sdifferencebackwardxOxuu
sdifferenceforwardxOxuu
xu
jiji
jiij
ijji
ij
)(2
)(
)(
211
11
11
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Derived by considering the Taylor expansion
32
32
2
2
xOxFxxFxxFxxF
xOxFxxFxxFxxF
CFD – Computational Fluid Dynamics
sdifferencecentralxOxuu
sdifferencebackwardxOxuu
sdifferenceforwardxOxuu
xu
jiji
jiij
ijji
ij
)(2
)(
)(
211
11
11
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Finite differences for higher order and mixed partial derivatives
22
112
2
)()(
2xO
xuuu
xu jiijji
ij
22111,111112
)(,)(4
yxOyx
uuuuyxu jijijiji
ij
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Difference equations - example– The 2D wave equation
02
2
2
22
2
2
yu
xuc
tu
042 11112
2
11
yxuuuuu
ct
uuu tij
tij
tij
tji
tji
tij
tij
tij
Partial Differential Equation
Discretization on a 2D Cartesian grids yields Difference Equation
CFD – Computational Fluid Dynamics
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Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Explicit approach
– Marching solution with marching variable t• Values at time t+1 are computed from known values at
time t and t-1• Step through all interior points of domain and update ut+1
122
1111
221 42
tij
tij
tij
tij
tji
tji
tij uu
yxtcuuuu
yxtcu
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Explicit vs. Implicit approach– Explicit approach
• Difference equation contains one unknown• Can be solved explicitely for it
– Implicit approach• Difference equation contains more than one unknown• Solution by simultaneously solving for all unknown
– System of algebraic equations to be solved
yx
uuuuuuuuuuc
tuuu
tij
tij
tij
tij
tij
tij
tji
tji
tji
tji
tij
tij
tij
)(214)(
21)(
21)(
21)(
21
2
11
111
111
111
11
2
2
11
e.g. Crank-Nicolson
CFD – Computational Fluid Dynamics
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Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Implicit Crank-Nicholson scheme
1
,,
,1,1,,1,1
2
4
tji
tji
tji
tji
tji
tji
tji
ti
xx
xxxxxc
2
2
2
2 hct
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Implicit approach – example– Poisson equation:
– Discretization:
fyp
xp tt
2
12
2
12
ij
tji
tij
tij
tij
tij
tji f
yppp
xppp
2
11
111
2
11
111 22
Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
0)(Re1
Re1
2
2
VdivypfvVv
tv
xpfuVu
tu
y
x
The EquationsSolution of the Navier-Stokes equations
DiffusionDescribes how quickly variations in velocity are damped-out; depends on fluid viscosity
AdvectionDescribes in what direction a “neighboring” region of fluid pushes fluid at u
External Forces
PressureDescribes in which direction fluid at u is pushed to reach a lower pressure area
Zero Divergence
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Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
NSE Discretization
xpf
yvv
xuu
yu
xu
tu
x
2
2
2
2
Re1
)(
2
)(2
)(
)(
22
112
2
211
11
11
xOx
uuuxu
sdifferencecentralxOxuu
sdifferencebackwardxOxuu
sdifferenceforwardxOxuu
xu
jiijji
ij
jiji
jiij
ijji
ij
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes Equations (cont.)Rewrite the Navier-Stokes Equations
where
now F and G can be computed
yptGv
xptFu tttt
11
ytt
xtt
fyvv
xvu
yv
xvtvG
fyuv
xuu
yu
xutuF
22
22
Re1
Re1
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Navier-Stokes Equations (cont.)Problem: Pressure is still unknown!
From derive:
and end up with this Poisson Equation after discretization:
yptGv
xptFu tttt
11
0)( Vdiv
0)( 2
2
2
211
ypt
yG
xpt
xF
yv
xuVdiv
tttt
yGG
xFF
typpp
xppp n
jinji
nji
nji
tji
tji
tji
tji
tji
tji 1,,,1,
2
11,
1,
11,
2
1,1
1,
1,1 122
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
The algorithm
• Step 1: compute Ft and Gt
• Use veocities ut and vt and difference equations for partial derivatives
• Step 2: solve equations for pressure pt+1
• Discretize second order partial derivatives• Use Jacobi, Gauss-Seidel, or Conjugate Gradient method
• Step 3: compute new velocities ut+1, vt+1
Computational Fluid Dynamics
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Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
• Boundary conditions (2D)– No-slip condition
• Fluid is fixed to boundary; velocities should vanish at boundaries or have velocities of moving boundaries
– Free-slip condition• Fluid is free to move parallel to the boundary; velocity
component normal to boundary vanishes– Outflow conditions
• Velocity into direction of boundary normal does not change– Inflow conditions
• Velocities are given explicitely
CFD – Computational Fluid Dynamics
computer graphics & visualization
Simulation and Animation – SS 07Jens Krüger – Computer Graphics and Visualization Group
Demo