Turbulent Micropolar SPH Fluids with Foam

General isotropic micropolar fluid model in smoothed particle hydrodynamics

The smoothed particle hydrodynamics (SPH) method is used in this paper to model micropolar fluids, with emphasis on their dissipation mechanisms. To this aim, a dissipation function is defined at the particle level which depends on the relative velocity between particles but also on an additional spin degree of freedom, which modifies such relative velocity as well as introduces spin-related intrinsic dissipation mechanisms, comparable to those related to the rate of deformation tensor in Newtonian fluids. This dissipation function is then incorporated within the Lagrangian formalism, leading to a set of SPH particle equations to describe the dynamics. A continuous integral SPH version of the scheme is obtained with a bottom-up derivation which guarantees the consistency of the SPH term. The model is then enriched with two additional terms based exclusively on the spin derivatives, which grant it the maximal generality as an isotropic model for micropolar fluids. Finally, numerical verification and validation tests are documented that show that SPH is capable of accurately modeling this type of dynamics.

Implicit Density Projection for Volume Conserving Liquids

We propose a novel implicit density projection approach for hybrid Eulerian/Lagrangian methods like FLIP and APIC to enforce volume conservation of incompressible liquids. Our approach is able to robustly recover from highly degenerate configurations and incorporates volume-conserving boundary handling. A problem of the standard divergence-free pressure solver is that it only has a differential view on density changes. Numerical volume errors, which occur due to large time steps and the limited accuracy of pressure projections, are invisible to the solver and cannot be corrected. Moreover, these errors accumulate over time and can lead to drastic volume changes, especially in long-running simulations or interactive scenarios. Therefore, we introduce a novel method that enforces constant density throughout the fluid. The density itself is tracked via the particles of the hybrid Eulerian/Lagrangian simulation algorithm. To achieve constant density, we use the continuous mass conservation law to derive a pressure Poisson equation which also takes density deviations into account. It can be discretized with standard approaches and easily implemented into existing code by extending the regular pressure solver. Our method enables us to relax the strict time step and solver accuracy requirements of a regular solver, leading to significantly higher performance. Moreover, our approach is able to push fluid particles out of solid obstacles without losing volume and generates more uniform particle distributions, which makes frequent particle resampling unnecessary. We compare the proposed method to standard FLIP and APIC and to previous volume correction approaches in several simulations and demonstrate significant improvements in terms of incompressibility, visual realism, and computational performance.

Implicit Frictional Boundary Handling for SPH

In this article, we present a novel method for the robust handling of static and dynamic rigid boundaries in Smoothed Particle Hydrodynamics (SPH) simulations. We build upon the ideas of the density maps approach which has been introduced recently by Koschier and Bender. They precompute the density contributions of solid boundaries and store them on a spatial grid which can be efficiently queried during runtime. This alleviates the problems of commonly used boundary particles, like bumpy surfaces and inaccurate pressure forces near boundaries. Our method is based on a similar concept but we precompute the volume contribution of the boundary geometry. This maintains all benefits of density maps but offers a variety of advantages which are demonstrated in several experiments. First, in contrast to the density maps method we can compute derivatives in the standard SPH manner by differentiating the kernel function. This results in smooth pressure forces, even for lower map resolutions, such that precomputation times and memory requirements are reduced by more than two orders of magnitude compared to density maps. Furthermore, this directly fits into the SPH concept so that volume maps can be seamlessly combined with existing SPH methods. Finally, the kernel function is not baked into the map such that the same volume map can be used with different kernels. This is especially useful when we want to incorporate common surface tension or viscosity methods that use different kernels than the fluid simulation.