Hydraulic Erosion Using Smoothed Particle Hydrodynamics

This paper presents a new technique for modification of 3D terrains by hydraulic erosion. It efficiently couples fluid simulation using a Lagrangian approach, namely the Smoothed Particle Hydrodynamics (SPH) method, and a physically-based erosion model adopted from an Eulerian approach. The eroded sediment is associated with the SPH particles and is advected both implicitly, due to the particle motion, and explicitly, through an additional velocity field, which accounts for the sediment transfer between the particles. We propose a new donor-acceptor scheme for the explicit advection in SPH. Boundary particles associated to the terrain are used to mediate sediment exchange between the SPH particles and the terrain itself. Our results show that this particle-based method is efficient for the erosion of dense, large, and sparse fluid. Our implementation provides interactive results for scenes with up to 25,000 particles.     

IISPH‐FLIP for incompressible fluids

We propose to use Implicit Incompressible Smoothed Particle Hydrodynamics (IISPH) for pressure projection and boundary handling in Fluid‐Implicit‐Particle (FLIP) solvers for the simulation of incompressible fluids. This novel combination addresses two issues of existing SPH and FLIP solvers, namely mass preservation in FLIP and efficiency and memory consumption in SPH. First, the SPH component enables the simulation of incompressible fluids with perfect mass preservation. Second, the FLIP component efficiently enriches the SPH component with detail that is comparable to a standard SPH simulation with the same number of particles, while improving the performance by a factor of 7 and significantly reducing the memory consumption. We demonstrate that the proposed IISPH‐FLIP solver can simulate incompressible fluids with a quantifiable, imperceptible density deviation below 0.1%. We show large‐scale scenarios with up to 160 million particles that have been processed on a single desktop PC using only 15GB of memory. One‐ and two‐way coupled solids are illustrated.     

Creating and Preserving Vortical Details in SPH Fluid

We present a new method to create and preserve the turbulent details generated around moving objects in SPH fluid. In our approach, a high‐resolution overlapping grid is bounded to each object and translates with the object. The turbulence formation is modeled by resolving the local flow around objects using a hybrid SPH‐FLIP method. Then these vortical details are carried on SPH particles flowing through the local region and preserved in the global field in a synthetic way. Our method provides a physically plausible way to model the turbulent details around both rigid and deformable objects in SPH fluid, and can efficiently produce animations of complex gaseous phenomena with rich visual details.     

Local Poisson SPH For Viscous Incompressible Fluids

Enforcing fluid incompressibility is one of the time‐consuming aspects in SPH. In this paper, we present a local Poisson SPH (LPSPH) method to solve incompressibility for particle based fluid simulation. Considering the pressure Poisson equation, we first convert it into an integral form, and then apply a discretization to convert the continuous integral equation to a discretized summation over all the particles in the local pressure integration domain determined by the local geometry. To control the approximation error, we further integrate our local pressure solver into the predictive‐corrective framework to avoid the computational cost of solving a pressure Poisson equation globally. Our method can effectively eliminate the large density deviations mainly caused by the solid boundary treatment and free surface topological change, and show advantage of a higher convergence rate over the predictive‐corrective incompressible SPH (PCISPH).     

Compressed Neighbour Lists for SPH

We propose a novel compression scheme to store neighbour lists for iterative solvers that employ Smoothed Particle Hydrodynamics (SPH). The compression scheme is inspired by Stream VByte, but uses a non-linear mapping from data to data bytes, yielding memory savings of up to 87%. It is part of a novel variant of the Cell-Linked-List (CLL) concept that is inspired by compact hashing with an improved processing of the cell-particle relations. We show that the resulting neighbour search outperforms compact hashing in terms of speed and memory consumption. Divergence-Free SPH (DFSPH) scenarios with up to 1.3 billion SPH particles can be processed on a 24-core PC using 172 GB of memory. Scenes with more than 7 billion SPH particles can be processed in a Message Passing Interface (MPI) environment with 112 cores and 880 GB of RAM. The neighbour search is also useful for interactive applications. A DFSPH simulation step for up to 0.2 million particles can be computed in less than 40 ms on a 12-core PC.     

Incompressible SPH using the Divergence‐Free Condition

In this paper, we present a novel SPH framework to simulate incompressible fluid that satisfies both the divergence‐ free condition and the density‐invariant condition. In our framework, the two conditions are applied separately. First, the divergence‐free condition is enforced when solving the momentum equation. Later, the density‐invariant condition is applied after the time integration of the particle positions. Our framework is a purely Lagrangian approach so that no auxiliary grid is required. Compared to the previous density‐invariant based SPH methods, the proposed method is more accurate due to the explicit satisfaction of the divergence‐free condition. We also propose a modified boundary particle method for handling the free‐slip condition. In addition, two simple but effective methods are proposed to reduce the particle clumping artifact induced by the density‐invariant condition.     

A novel method for modeling of complex wall geometries in smoothed particle hydrodynamics

Smoothed particle hydrodynamics (SPH) has become increasingly important during recent decades. Its meshless nature, inherent representation of convective transport and ability to simulate free surface flows make SPH particularly promising with regard to simulations of industrial mixing devices for high-viscous fluids, which often have complex rotating geometries and partially filled regions (e.g., twin-screw extruders). However, incorporating the required geometries remains a challenge in SPH since the most obvious and most common ways to model solid walls are based on particles (i.e., boundary particles and ghost particles), which leads to complications with arbitrarily-curved wall surfaces. To overcome this problem, we developed a systematic method for determining an adequate interaction between SPH particles and a continuous wall surface based on the underlying SPH equations. We tested our new approach by using the open-source particle simulator “LIGGGHTS” and comparing the velocity profiles to analytical solutions and SPH simulations with boundary particles. Finally, we followed the evolution of a tracer in a twin-cam mixer during the rotation, which was experimentally and numerically studied by several other authors, and ascertained good agreement with our results. This supports the validity of our newly-developed wall interaction method, which constitutes a step forward in SPH simulations of complex geometries.     

Wake Synthesis For Shallow Water Equation

In fluid animation, wake is one of the most important phenomena usually seen when an object is moving relative to the flow. However, in current shallow water simulation for interactive applications, this effect is greatly smeared out. In this paper, we present a method to efficiently synthesize these wakes. We adopt a generalized SPH method for shallow water simulation and two way solid fluid coupling. In addition, a 2D discrete vortex method is used to capture the detailed wake motions behind an obstacle, enriching the motion of SWE simulation. Our method is highly efficient since only 2D simulation is required. Moreover, by using a physically inspired procedural approach for particle seeding, DVM particles are only created in the wake region. Therefore, very few particles are required while still generating realistic wake patterns. When coupled with SWE, we show that these patterns can be seen using our method with marginal overhead.     

Temporal Blending for Adaptive SPH

In this paper, we introduce a fast and consistent smoothed particle hydrodynamics (SPH) technique which is suitable for convection–diffusion simulations of incompressible fluids. We apply our temporal blending technique to reduce the number of particles in the simulation while smoothly changing quantity fields. Our approach greatly reduces the error introduced in the pressure term when changing particle configurations. Compared to other methods, this enables larger integration time‐steps in the transition phase. Our implementation is fully GPU‐based to take advantage of the parallel nature of particle simulations.     

Realtime Two‐Way Coupling of Meshless Fluids and Nonlinear FEM

In this paper, we present a novel method to couple Smoothed Particle Hydrodynamics (SPH) and nonlinear FEM to animate the interaction of fluids and deformable solids in real time. To accurately model the coupling, we generate proxy particles over the boundary of deformable solids to facilitate the interaction with fluid particles, and develop an efficient method to distribute the coupling forces of proxy particles to FEM nodal points. Specifically, we employ the Total Lagrangian Explicit Dynamics (TLED) finite element algorithm for nonlinear FEM because of many of its attractive properties such as supporting massive parallelism, avoiding dynamic update of stiffness matrix computation, and efficient solver. Based on a predictor‐corrector scheme for both velocity and position, different normal and tangential conditions can be realized even for shell‐like thin solids. Our coupling method is entirely implemented on modern GPUs using CUDA. We demonstrate the advantage of our two‐way coupling method in computer animation via various virtual scenarios.     

An Implicit SPH Formulation for Incompressible Linearly Elastic Solids

We propose a novel smoothed particle hydrodynamics (SPH) formulation for deformable solids. Key aspects of our method are implicit elastic forces and an adapted SPH formulation for the deformation gradient that—in contrast to previous work—allows a rotation extraction directly from the SPH deformation gradient. The proposed implicit concept is entirely based on linear formulations. As a linear strain tensor is used, a rotation‐aware computation of the deformation gradient is required. In contrast to existing work, the respective rotation estimation is entirely realized within the SPH concept using a novel formulation with incorporated kernel gradient correction for first‐order consistency. The proposed implicit formulation and the adapted rotation estimation allow for significantly larger time steps and higher stiffness compared to explicit forms. Performance gain factors of up to one hundred are presented. Incompressibility of deformable solids is accounted for with an ISPH pressure solver. This further allows for a pressure‐based boundary handling and a unified processing of deformables interacting with SPH fluids and rigids. Self‐collisions are implicitly handled by the pressure solver.     

Boundary Handling at Cloth–Fluid Contact

We present a robust and efficient method for the two‐way coupling between particle‐based fluid simulations and infinitesimally thin solids represented by triangular meshes. Our approach is based on a hybrid method that combines a repulsion force approach with a continuous intersection handling to guarantee that no penetration occurs. Moreover, boundary conditions for the tangential component of the fluid's velocity are implemented to model the different slip conditions. The proposed method is particularly useful for dynamic surfaces, like cloth and thin shells. In addition, we demonstrate how standard fluid surface reconstruction algorithms can be modified to prevent the calculated surface from intersecting close objects. For both the two‐way coupling and the surface reconstruction, we take into account that the fluid can wet the cloth. We have implemented our approach for the bidirectional interaction between liquid simulations based on Smoothed Particle Hydrodynamics (SPH) and standard mesh‐based cloth simulation systems.     

Improved Incompressible Smoothed Particle Hydrodynamics method for simulating flow around bluff bodies

In this article, we present numerical solutions for flow over an airfoil and a square obstacle using Incompressible Smoothed Particle Hydrodynamics (ISPH) method with an improved solid boundary treatment approach, referred to as the Multiple Boundary Tangents (MBT) method. It was shown that the MBT boundary treatment technique is very effective for tackling boundaries of complex shapes. Also, we have proposed the usage of the repulsive component of the Lennard-Jones Potential (LJP) in the advection equation to repair particle fractures occurring in the SPH method due to the tendency of SPH particles to follow the stream line trajectory. This approach is named as the artificial particle displacement method. Numerical results suggest that the improved ISPH method which is consisting of the MBT method, artificial particle displacement and the corrective SPH discretization scheme enables one to obtain very stable and robust SPH simulations. The square obstacle and NACA airfoil geometry with the angle of attacks between 0° and 15° were simulated in a laminar flow field with relatively high Reynolds numbers. We illustrated that the improved ISPH method is able to capture the complex physics of bluff-body flows naturally such as the flow separation, wake formation at the trailing edge, and the vortex shedding. The SPH results are validated with a mesh-dependent Finite Element Method (FEM) and excellent agreements among the results were observed.     

一种基于SPH流体模拟的固液边界改进算法

光滑粒子流体动力学(SPH)法是一种无网格的流体模拟方法,固液边界处理是SPH法模拟流体行为的重点和难点。本文提出一种单层加密粒子法进行固液边界处理。与虚拟粒子法将边界假设为静止的流体粒子不同,本文将边界假设为具有一定密度的固体粒子,依靠物理约束进行流体计算。这种方法能够有效降低模拟中穿越边界的粒子数量,使得流体边界处的模拟更加符合真实情况。本文采用仿真流体数据对提出的算法进行验证,并对其有效性进行分析讨论。     

SPH particle boundary forces for arbitrary boundaries

This paper is concerned with approximating arbitrarily shaped boundaries in SPH simulations. We model the boundaries by means of boundary particles which exert forces on a fluid. We show that, when these forces are chosen correctly, and the boundary particle spacing is a factor of 2 (or more) less than the fluid particle spacing, the total boundary force on a fluid SPH particle is perpendicular to boundaries with negligible error. Furthermore, the variation in the force as a fluid particle moves, while keeping a fixed distance from the boundary, is also negligible. The method works equally well for convex or concave boundaries. The new boundary forces simplify SPH algorithms and are superior to other methods for simulating complicated boundaries. We apply the new method to (a) the rise of a cylinder contained in a curved basin, (b) the spin down of a fluid in a cylinder, and (c) the oscillation of a cylinder inside a larger fixed cylinder. The results of the simulations are in good agreement with those obtained using other methods, but with the advantage that they are very simple to implement.     

Semi-analytical Solid Boundary Conditions for Free Surface Flows

The treatment of solid boundary conditions remains one of the most challenging parts in the SPH method. We present a semi-analytical approach to handle complex solid boundaries of arbitrary shape. Instead of calculating a renormalizing factor for the particle near the boundary, we propose to calculate the volume integral inside the solid boundary under the local spherical frame of a particle. By converting the volume integral into a surface integral, a computer aided design (CAD) mesh file representing the boundary can be naturally integrated for particle simulations. To accelerate the search for a particle's neighboring triangles, a uniform grid is applied to store indices of intersecting triangles. The new semi-analytical solid boundary handling approach is integrated into a position-based method [MM13] as well as a projection-based [HWW*20] to demonstrate its effectiveness in handling complex boundaries. Experiments show that our method is able to achieve comparable results with those simulated using ghost particles. In addition, since our method requires no boundary particles for deforming surfaces, our method is flexible enough to handle complex solid boundaries, including sharp corners and shells.     

A Layered Particle‐Based Fluid Model for Real‐Time Rendering of Water

We present a physically based real‐time water simulation and rendering method that brings volumetric foam to the real‐time domain, significantly increasing the realism of dynamic fluids. We do this by combining a particle‐based fluid model that is capable of accounting for the formation of foam with a layered rendering approach that is able to account for the volumetric properties of water and foam. Foam formation is simulated through Weber number thresholding. For rendering, we approximate the resulting water and foam volumes by storing their respective boundary surfaces in depth maps. This allows us to calculate the attenuation of light rays that pass through these volumes very efficiently. We also introduce an adaptive curvature flow filter that produces consistent fluid surfaces from particles independent of the viewing distance.     

Towards accelerating smoothed particle hydrodynamics simulations for free-surface flows on multi-GPU clusters

Starting from the single graphics processing unit (GPU) version of the Smoothed Particle Hydrodynamics (SPH) code DualSPHysics, a multi-GPU SPH program is developed for free-surface flows. The approach is based on a spatial decomposition technique, whereby different portions (sub-domains) of the physical system under study are assigned to different GPUs. Communication between devices is achieved with the use of Message Passing Interface (MPI) application programming interface (API) routines. The use of the sorting algorithm radix sort for inter-GPU particle migration and sub-domain “halo” building (which enables interaction between SPH particles of different sub-domains) is described in detail. With the resulting scheme it is possible, on the one hand, to carry out simulations that could also be performed on a single GPU, but they can now be performed even faster than on one of these devices alone. On the other hand, accelerated simulations can be performed with up to 32 million particles on the current architecture, which is beyond the limitations of a single GPU due to memory constraints. A study of weak and strong scaling behaviour, speedups and efficiency of the resulting program is presented including an investigation to elucidate the computational bottlenecks. Last, possibilities for reduction of the effects of overhead on computational efficiency in future versions of our scheme are discussed.     

An Efficient Hybrid Incompressible SPH Solver with Interface Handling for Boundary Conditions

We propose a hybrid smoothed particle hydrodynamics solver for efficientlysimulating incompressible fluids using an interface handling method for boundary conditions in the pressure Poisson equation. We blend particle density computed with one smooth and one spiky kernel to improve the robustness against both fluid–fluid and fluid–solid collisions. To further improve the robustness and efficiency, we present a new interface handling method consisting of two components: free surface handling for Dirichlet boundary conditions and solid boundary handling for Neumann boundary conditions. Our free surface handling appropriately determines particles for Dirichlet boundary conditions using Jacobi‐based pressure prediction while our solid boundary handling introduces a new term to ensure the solvability of the linear system. We demonstrate that our method outperforms the state‐of‐the‐art particle‐based fluid solvers.     

Hybrid Simulation of Miscible Mixing with Viscous Fingering

By modeling mass transfer phenomena, we simulate solids and liquids dissolving or changing to other substances. We also deal with the very small‐scale phenomena that occur when a fluid spreads out at the interface of another fluid. We model the pressure at the interfaces between fluids with Darcy's Law and represent the viscous fingering phenomenon in which a fluid interface spreads out with a fractal‐like shape. We use hybrid grid‐based simulation and smoothed particle hydrodynamics (SPH) to simulate intermolecular diffusion and attraction using particles at a computable scale. We have produced animations showing fluids mixing and objects dissolving.