diff --git a/iga/README.md b/iga/README.md index 48a441f4..11e192c2 100644 --- a/iga/README.md +++ b/iga/README.md @@ -1,8 +1,9 @@ # Iga Examples ## Use Cases -- [External Boundary Circle (NURBS) ](https://github.com/KratosMultiphysics/Examples/blob/master/iga/use_cases/external_boundary_cirle_with_nurbs/README.md) +- [External Boundary Circle (NURBS)](https://github.com/KratosMultiphysics/Examples/blob/master/iga/use_cases/external_boundary_circle_with_nurbs/README.md) - [IGA Single-Patch Shell in Membrane Action with Weak Supports and Line Load](https://github.com/KratosMultiphysics/Examples/blob/master/iga/use_cases/iga_shell_3p_single_patch/README.md) +- [3D Laplacian on an Embedded Cube with SBM](https://github.com/KratosMultiphysics/Examples/blob/master/iga/use_cases/laplacian_3d_cube_sbm/README.md) ## Validation Cases diff --git a/iga/use_cases/laplacian_sbm_3d_bunny/ProjectParameters.json b/iga/use_cases/laplacian_sbm_3d_bunny/ProjectParameters.json new file mode 100644 index 00000000..49cbc66a --- /dev/null +++ b/iga/use_cases/laplacian_sbm_3d_bunny/ProjectParameters.json @@ -0,0 +1,138 @@ +{ + "problem_data": { + "problem_name": "laplacian_3d_stanford_bunny", + "echo_level": 1, + "parallel_type": "OpenMP", + "start_time": 0.0, + "end_time": 1.0 + }, + "solver_settings": { + "solver_type": "stationary", + "analysis_type": "non_linear", + "model_part_name": "IgaModelPart", + "domain_size": 3, + "model_import_settings": { + "input_type": "use_input_model_part" + }, + "material_import_settings": { + "materials_filename": "materials.json" + }, + "linear_solver_settings": { + "solver_type": "skyline_lu_factorization" + }, + "skip_entities_replace_and_check": true, + "line_search": false, + "echo_level": 1, + "compute_reactions": false, + "max_iteration": 3, + "solution_relative_tolerance": 1e-14, + "solution_absolute_tolerance": 1e-14, + "residual_relative_tolerance": 1e-14, + "residual_absolute_tolerance": 1e-14, + "time_stepping": { + "time_step": 1e20 + } + }, + "modelers": [ + { + "modeler_name": "import_mdpa_modeler", + "kratos_module": "KratosMultiphysics", + "Parameters": { + "input_filename": "bunny", + "model_part_name": "initial_skin_model_part_out" + } + }, + { + "modeler_name": "NurbsGeometryModelerSbm", + "Parameters": { + "model_part_name": "IgaModelPart", + "lower_point_xyz": [0.0, 0.0, 0.0], + "upper_point_xyz": [2.0, 2.0, 2.0], + "lower_point_uvw": [0.0, 0.0, 0.0], + "upper_point_uvw": [2.0, 2.0, 2.0], + "polynomial_order": [2, 2, 2], + "number_of_knot_spans": [40, 40, 40], + "lambda_outer": 1.0, + "lambda_inner": 0.5, + "number_of_inner_loops": 0, + "skin_model_part_outer_initial_name": "initial_skin_model_part_out", + "skin_model_part_name": "skin_model_part" + } + }, + { + "modeler_name": "IgaModelerSbm", + "Parameters": { + "echo_level": 0, + "skin_model_part_name": "skin_model_part", + "analysis_model_part_name": "IgaModelPart", + "element_condition_list": [ + { + "geometry_type": "GeometryVolume", + "iga_model_part": "ConvectionDiffusionDomain", + "type": "element", + "name": "LaplacianElement", + "shape_function_derivatives_order": 2 + }, + { + "geometry_type": "SurfaceEdge", + "iga_model_part": "SBM_Support_outer", + "type": "condition", + "name": "SbmLaplacianConditionDirichlet", + "shape_function_derivatives_order": 10, + "sbm_parameters": { + "is_inner": false + } + } + ] + } + } + ], + "processes": { + "additional_processes": [ + { + "python_module": "assign_iga_external_conditions_process", + "kratos_module": "KratosMultiphysics.IgaApplication", + "process_name": "AssignIgaExternalConditionsProcess", + "Parameters": { + "echo_level": 0, + "model_part_name": "IgaModelPart", + "element_condition_list": [ + { + "iga_model_part": "IgaModelPart.ConvectionDiffusionDomain", + "variables": [ + { + "variable_name": "HEAT_FLUX", + "value": "sin(x) * sinh(y) * cos(z)" + } + ] + }, + { + "iga_model_part": "IgaModelPart.SBM_Support_outer", + "variables": [ + { + "variable_name": "TEMPERATURE", + "value": "sin(x) * sinh(y) * cos(z)" + } + ] + } + ] + } + } + ], + "dirichlet_process_list": [ + { + "kratos_module": "KratosMultiphysics", + "python_module": "assign_scalar_variable_to_nodes_process", + "Parameters": { + "model_part_name": "skin_model_part.outer", + "variable_name": "TEMPERATURE", + "value": "sin(x) * sinh(y) * cos(z)" + } + } + ], + "constraints_process_list": [] + }, + "output_processes": { + "output_process_list": [] + } +} diff --git a/iga/use_cases/laplacian_sbm_3d_bunny/README.md b/iga/use_cases/laplacian_sbm_3d_bunny/README.md new file mode 100644 index 00000000..6dfca122 --- /dev/null +++ b/iga/use_cases/laplacian_sbm_3d_bunny/README.md @@ -0,0 +1,46 @@ +# Use Case IGA - 3D Laplacian on the Stanford Bunny with SBM + +Short description + +This example solves a stationary 3D Laplacian problem with the Surrogate Boundary Method (SBM) in the IGA Application. The embedded boundary is the Stanford bunny imported from `bunny.mdpa`, while the analysis is carried out on a structured background NURBS volume. + +The manufactured solution used for validation is: + +`T(x, y, z) = sin(x) * sinh(y) * cos(z)` + +The same field is prescribed on the surrogate boundary, and the corresponding volumetric term is assigned through `HEAT_FLUX`. + +Files +- `ProjectParameters.json` +- `materials.json` +- `bunny.mdpa` +- `run_and_post.py` +- `convergence.py` +- `plot_conditions.py` + +Geometry +- `import_mdpa_modeler` loads the Stanford bunny skin into `initial_skin_model_part_out`. +- `NurbsGeometryModelerSbm` creates the background volume on `[0, 2]^3` with order `[2, 2, 2]` and a structured knot-span grid. +- `IgaModelerSbm` creates: + - `LaplacianElement` on `IgaModelPart.ConvectionDiffusionDomain` + - `SbmLaplacianConditionDirichlet` on `IgaModelPart.SBM_Support_outer` + +Solver +- Stationary convection-diffusion analysis +- 3D Laplacian formulation +- SBM Dirichlet condition with `PENALTY_FACTOR = -1` +- Linear solver: `skyline_lu_factorization` + +Run + +```bash +python3 run_and_post.py +python3 convergence.py +python3 plot_conditions.py +``` + +`run_and_post.py` runs the analysis, prints the absolute and normalized L2 errors, and plots the error distribution at the element integration points. + +`convergence.py` performs a mesh-refinement study by changing the number of knot spans of the background NURBS volume. + +`plot_conditions.py` initializes the model and plots the outer surrogate boundary in 3D using three gray tones according to the face orientation. diff --git a/iga/use_cases/laplacian_sbm_3d_bunny/bunny.mdpa b/iga/use_cases/laplacian_sbm_3d_bunny/bunny.mdpa new file mode 100644 index 00000000..5bbbb564 --- /dev/null +++ b/iga/use_cases/laplacian_sbm_3d_bunny/bunny.mdpa @@ -0,0 +1,168617 @@ +Begin ModelPartData +// VARIABLE_NAME value +End ModelPartData + +Begin Properties 0 +End Properties + +Begin Nodes + 1 0.84676676 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KratosMultiphysics.IgaApplication # noqa: F401 +from KratosMultiphysics.ConvectionDiffusionApplication.convection_diffusion_analysis import ( + ConvectionDiffusionAnalysis, +) + + +INSERTION_COUNTS = [20, 25, 30, 35, 40, 45, 50] +POLYNOMIAL_ORDER = 2 +DOMAIN_LENGTH = 2.0 + + +def analytical_temperature(x, y, z): + return np.sin(x) * np.sinh(y) * np.cos(z) + + +def _case_directory(): + return Path(__file__).resolve().parent + + +def _load_project_parameters_template(): + parameter_file = _case_directory() / "ProjectParameters.json" + return parameter_file.read_text(encoding="utf-8") + + +def _build_parameters(parameters_template, insertion_count): + parameters = KM.Parameters(parameters_template) + + for modeler_index in range(parameters["modelers"].size()): + modeler = parameters["modelers"][modeler_index] + if modeler["modeler_name"].GetString() != "NurbsGeometryModelerSbm": + continue + + modeler_parameters = modeler["Parameters"] + modeler_parameters["number_of_knot_spans"] = KM.Parameters( + f"[{insertion_count}, {insertion_count}, {insertion_count}]" + ) + modeler_parameters["polynomial_order"] = KM.Parameters( + f"[{POLYNOMIAL_ORDER}, {POLYNOMIAL_ORDER}, {POLYNOMIAL_ORDER}]" + ) + break + + return parameters + + +def _compute_normalized_l2_error(model): + model_part = model["IgaModelPart.ConvectionDiffusionDomain"] + + error_norm_squared = 0.0 + exact_norm_squared = 0.0 + + for element in model_part.Elements: + geometry = element.GetGeometry() + shape_functions = geometry.ShapeFunctionsValues() + center = geometry.Center() + weight = element.GetValue(KM.INTEGRATION_WEIGHT) + + if weight <= 0.0: + continue + + computed_temperature = 0.0 + for node_index, node in enumerate(geometry): + nodal_temperature = node.GetSolutionStepValue(KM.TEMPERATURE, 0) + computed_temperature += shape_functions[0, node_index] * nodal_temperature + + exact_temperature = analytical_temperature(center.X, center.Y, center.Z) + error_norm_squared += weight * (computed_temperature - exact_temperature) ** 2 + exact_norm_squared += weight * exact_temperature**2 + + return np.sqrt(error_norm_squared / exact_norm_squared) + + +def _plot_convergence(h_values, normalized_l2_errors): + plt.figure(figsize=(8, 6)) + plt.loglog(h_values, normalized_l2_errors, "s-", markersize=4, linewidth=2, label="Normalized L2 error") + + reference_order = POLYNOMIAL_ORDER + 1 + reference_curve = normalized_l2_errors[0] * (h_values / h_values[0]) ** reference_order + plt.loglog( + h_values, + reference_curve, + "--", + linewidth=1.5, + label=f"Reference slope h^{reference_order}", + ) + + plt.grid(True, which="both", linestyle="--") + plt.xlabel("h") + plt.ylabel("Normalized L2 error") + plt.legend(loc="lower right") + plt.tight_layout() + plt.show() + + +def main(): + parameters_template = _load_project_parameters_template() + + h_values = [] + normalized_l2_errors = [] + + for insertion_count in INSERTION_COUNTS: + print(f"insertions: {insertion_count}") + + parameters = _build_parameters(parameters_template, insertion_count) + model = KM.Model() + simulation = ConvectionDiffusionAnalysis(model, parameters) + simulation.Run() + + normalized_l2_error = _compute_normalized_l2_error(model) + h_value = DOMAIN_LENGTH / insertion_count + + h_values.append(h_value) + normalized_l2_errors.append(normalized_l2_error) + + print(f"Normalized L2 error: {normalized_l2_error}") + simulation.Clear() + + print(f"\nh = {h_values}") + print(f"\nNormalized L2 error = {normalized_l2_errors}") + + if len(h_values) > 1: + slopes = [] + for index in range(len(h_values) - 1): + slope = np.log(normalized_l2_errors[index + 1] / normalized_l2_errors[index]) / np.log( + h_values[index + 1] / h_values[index] + ) + slopes.append(slope) + print(f"slope {index + 1}: {slope}") + + print(f"average slope: {np.mean(slopes)}") + + _plot_convergence(np.asarray(h_values), np.asarray(normalized_l2_errors)) + + +if __name__ == "__main__": + main() diff --git a/iga/use_cases/laplacian_sbm_3d_bunny/materials.json b/iga/use_cases/laplacian_sbm_3d_bunny/materials.json new file mode 100644 index 00000000..2fd0f1f1 --- /dev/null +++ b/iga/use_cases/laplacian_sbm_3d_bunny/materials.json @@ -0,0 +1,26 @@ +{ + "properties": [ + { + "model_part_name": "IgaModelPart.ConvectionDiffusionDomain", + "properties_id": 2, + "Material": { + "Variables": { + "DENSITY": 1.0, + "CONDUCTIVITY": 1.0, + "SPECIFIC_HEAT": 1.0 + }, + "Tables": {} + } + }, + { + "model_part_name": "IgaModelPart.SBM_Support_outer", + "properties_id": 1, + "Material": { + "Variables": { + "PENALTY_FACTOR": -1 + }, + "Tables": {} + } + } + ] +} diff --git a/iga/use_cases/laplacian_sbm_3d_bunny/plot_conditions.py b/iga/use_cases/laplacian_sbm_3d_bunny/plot_conditions.py new file mode 100644 index 00000000..feab383c --- /dev/null +++ b/iga/use_cases/laplacian_sbm_3d_bunny/plot_conditions.py @@ -0,0 +1,151 @@ +from pathlib import Path +import sys + +import matplotlib.pyplot as plt +import numpy as np +from matplotlib.patches import Patch +from mpl_toolkits.mplot3d.art3d import Poly3DCollection + +import KratosMultiphysics as KM +import KratosMultiphysics.IgaApplication # noqa: F401 +from KratosMultiphysics.ConvectionDiffusionApplication.convection_diffusion_analysis import ( + ConvectionDiffusionAnalysis, +) + + +AXIS_LABELS = { + 0: "Faces parallel to YZ", + 1: "Faces parallel to XZ", + 2: "Faces parallel to XY", +} + +AXIS_COLORS = { + 0: "#4a4a4a", + 1: "#8a8a8a", + 2: "#c4c4c4", +} + + +def _get_project_parameters_file(): + if len(sys.argv) > 2: + raise RuntimeError( + 'Use "python3 plot_conditions.py" or "python3 plot_conditions.py CustomProjectParameters.json".' + ) + return Path(sys.argv[1]) if len(sys.argv) == 2 else Path("ProjectParameters.json") + + +def _load_simulation(): + parameter_file = _get_project_parameters_file() + with parameter_file.open("r", encoding="utf-8") as input_file: + parameters = KM.Parameters(input_file.read()) + + model = KM.Model() + simulation = ConvectionDiffusionAnalysis(model, parameters) + simulation.Initialize() + return simulation, model + + +def _collect_surrogate_outer_faces(model_part): + grouped_faces = {0: [], 1: [], 2: []} + + for condition in model_part.Conditions: + geometry = condition.GetGeometry() + face_points = [[node.X, node.Y, node.Z] for node in geometry] + coordinates = np.asarray(face_points) + + # The surrogate faces are axis-aligned patches on the background grid. + # The face orientation is therefore identified more robustly by the + # coordinate with the smallest spread than by using geometry normals. + coordinate_spreads = np.ptp(coordinates, axis=0) + axis_normal_to_face = int(np.argmin(coordinate_spreads)) + grouped_faces[axis_normal_to_face].append(face_points) + + return grouped_faces + + +def _triangulate_faces(faces): + triangles = [] + + for face in faces: + if len(face) == 3: + triangles.append(face) + continue + + pivot = face[0] + for i in range(1, len(face) - 1): + triangles.append([pivot, face[i], face[i + 1]]) + + return triangles + + +def _set_equal_axes(ax, points): + coords = np.asarray(points) + mins = coords.min(axis=0) + maxs = coords.max(axis=0) + centers = 0.5 * (mins + maxs) + radius = 0.5 * np.max(maxs - mins) + + ax.set_xlim(centers[0] - radius, centers[0] + radius) + ax.set_ylim(centers[1] - radius, centers[1] + radius) + ax.set_zlim(centers[2] - radius, centers[2] + radius) + + +def _plot_surrogate_outer(grouped_faces): + fig = plt.figure(figsize=(11, 9)) + ax = fig.add_subplot(111, projection="3d") + + all_points = [] + legend_handles = [] + all_triangles = [] + all_colors = [] + + for axis_id in (0, 1, 2): + faces = _triangulate_faces(grouped_faces[axis_id]) + if not faces: + continue + + all_triangles.extend(faces) + all_colors.extend([AXIS_COLORS[axis_id]] * len(faces)) + legend_handles.append( + Patch(facecolor=AXIS_COLORS[axis_id], edgecolor="#222222", label=AXIS_LABELS[axis_id]) + ) + + for face in faces: + all_points.extend(face) + + if not all_points: + raise RuntimeError("No surrogate outer faces were found to plot.") + + collection = Poly3DCollection( + all_triangles, + facecolors=all_colors, + edgecolors="none", + linewidths=0.0, + alpha=1.0, + zsort="average", + ) + ax.add_collection3d(collection) + + _set_equal_axes(ax, all_points) + ax.set_xlabel("X") + ax.set_ylabel("Y") + ax.set_zlabel("Z") + ax.set_title("Surrogate Boundary Outer") + ax.legend(handles=legend_handles, loc="upper right") + plt.tight_layout() + plt.show() + + +def main(): + simulation, model = _load_simulation() + + try: + surrogate_outer = model["IgaModelPart.surrogate_outer"] + grouped_faces = _collect_surrogate_outer_faces(surrogate_outer) + _plot_surrogate_outer(grouped_faces) + finally: + simulation.Finalize() + + +if __name__ == "__main__": + main() diff --git a/iga/use_cases/laplacian_sbm_3d_bunny/run_and_post.py b/iga/use_cases/laplacian_sbm_3d_bunny/run_and_post.py new file mode 100644 index 00000000..9f628cf5 --- /dev/null +++ b/iga/use_cases/laplacian_sbm_3d_bunny/run_and_post.py @@ -0,0 +1,130 @@ +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np + +import KratosMultiphysics as KM +import KratosMultiphysics.IgaApplication # noqa: F401 +from KratosMultiphysics.ConvectionDiffusionApplication.convection_diffusion_analysis import ( + ConvectionDiffusionAnalysis, +) + + +GENERATED_OUTPUT_FILES = ( + "txt_files/Projection_Coordinates.txt", + "surrogate_condition_nodes_coordinates.txt", + "skin_condition_nodes_coordinates.txt", + "knot_spans_available_before.txt", + "knot_spans_available_after.txt", +) + + +def analytical_temperature(x, y, z): + return np.sin(x) * np.sinh(y) * np.cos(z) + + +def _case_directory(): + return Path(__file__).resolve().parent + + +def _cleanup_generated_files(): + case_directory = _case_directory() + for relative_path in GENERATED_OUTPUT_FILES: + file_path = case_directory / relative_path + if file_path.exists(): + file_path.unlink() + + +def _load_project_parameters(): + parameter_file = _case_directory() / "ProjectParameters.json" + return KM.Parameters(parameter_file.read_text(encoding="utf-8")) + + +def _extract_solution_at_integration_points(model): + model_part = model["IgaModelPart.ConvectionDiffusionDomain"] + + coordinates = [] + temperatures = [] + weights = [] + + for element in model_part.Elements: + geometry = element.GetGeometry() + shape_functions = geometry.ShapeFunctionsValues() + center = geometry.Center() + weight = element.GetValue(KM.INTEGRATION_WEIGHT) + + if weight <= 0.0: + continue + + temperature = 0.0 + for node_index, node in enumerate(geometry): + nodal_temperature = node.GetSolutionStepValue(KM.TEMPERATURE, 0) + temperature += shape_functions[0, node_index] * nodal_temperature + + coordinates.append((center.X, center.Y, center.Z)) + temperatures.append(temperature) + weights.append(weight) + + return np.asarray(coordinates), np.asarray(temperatures), np.asarray(weights) + + +def _compute_error_metrics(coordinates, computed_temperature, weights): + analytical_temperature_values = analytical_temperature( + coordinates[:, 0], coordinates[:, 1], coordinates[:, 2] + ) + absolute_error = np.abs(computed_temperature - analytical_temperature_values) + + l2_error = np.sqrt(np.sum(weights * absolute_error**2)) + analytical_l2_norm = np.sqrt(np.sum(weights * analytical_temperature_values**2)) + normalized_l2_error = l2_error / analytical_l2_norm + + return absolute_error, l2_error, normalized_l2_error + + +def _plot_3d_error_scatter(coordinates, absolute_error): + fig = plt.figure(figsize=(8, 6)) + ax = fig.add_subplot(111, projection="3d") + scatter = ax.scatter( + coordinates[:, 0], + coordinates[:, 1], + coordinates[:, 2], + c=absolute_error, + cmap="jet", + s=10, + ) + + ax.set_title("Absolute Temperature Error") + ax.set_xlabel("X") + ax.set_ylabel("Y") + ax.set_zlabel("Z") + + colorbar = plt.colorbar(scatter, ax=ax, pad=0.1) + colorbar.set_label("Absolute Error") + + plt.tight_layout() + plt.show() + + +def main(): + _cleanup_generated_files() + + parameters = _load_project_parameters() + model = KM.Model() + simulation = ConvectionDiffusionAnalysis(model, parameters) + simulation.Run() + + coordinates, computed_temperature, weights = _extract_solution_at_integration_points(model) + absolute_error, l2_error, normalized_l2_error = _compute_error_metrics( + coordinates, computed_temperature, weights + ) + + current_time = simulation._GetSolver().GetComputingModelPart().ProcessInfo[KM.TIME] + print(f"Current time after simulation: {current_time}") + print(f"L2 norm of temperature error: {l2_error}") + print(f"Normalized L2 error: {normalized_l2_error}") + + _plot_3d_error_scatter(coordinates, absolute_error) + + +if __name__ == "__main__": + main()