commit 77795a3e9adf1fc0f4406bcf41da19b1e39b32fd parent f3eb6b6c4944f8836c67355a082a8dc92d2bca04 Author: Anders Damsgaard <anders@adamsgaard.dk> Date: Wed, 14 Jan 2026 21:56:51 +0100 feat(solver): implementing TDMA solver and optimizations Diffstat:
| M | Makefile | | | 4 | ++-- |
| M | simulation.c | | | 1860 | ++++++++++++++++++++++++++++++++++++++----------------------------------------- |
| M | test/cngf_pf_dry.std | | | 32 | ++++++++++++++++---------------- |
| M | test/cngf_pf_dry_cohesive.std | | | 32 | ++++++++++++++++---------------- |
| M | test/cngf_pf_dry_norm.std | | | 32 | ++++++++++++++++---------------- |
| M | test/cngf_pf_dry_vconst.std | | | 50 | +++++++++++++++++++++++++------------------------- |
| M | test/cngf_pf_wet.std | | | 32 | ++++++++++++++++---------------- |
| M | test/cngf_pf_wet_norm.std | | | 32 | ++++++++++++++++---------------- |
| M | test/cngf_pf_wet_vari.std | | | 400 | ++++++++++++++++++++++++++++++++++++++++---------------------------------------- |
| M | test/cngf_pf_wet_vari_diff.std | | | 400 | ++++++++++++++++++++++++++++++++++++++++---------------------------------------- |
| M | test/cngf_pf_wet_vari_pulse.std | | | 400 | ++++++++++++++++++++++++++++++++++++++++---------------------------------------- |
| M | test/cngf_pf_wet_vari_pulse_vlim.std | | | 400 | ++++++++++++++++++++++++++++++++++++++++---------------------------------------- |
| M | test/shear_flux_dry.std | | | 2 | +- |
| M | test/shear_flux_wet.std | | | 2 | +- |
14 files changed, 1802 insertions(+), 1876 deletions(-)
diff --git a/Makefile b/Makefile @@ -31,8 +31,8 @@ HDR = \ LIBS = -lm -CNGFPF_CFLAGS = ${CFLAGS} ${INCS} -DVERSION=\"${VERSION}\" -CNGFPF_LDFLAGS = ${LDFLAGS} +CNGFPF_CFLAGS = ${CFLAGS} ${INCS} -DVERSION=\"${VERSION}\" -O3 -march=native -flto +CNGFPF_LDFLAGS = ${LDFLAGS} -flto CNGFPF_LIBS = ${LIBS} MAN1 = \ diff --git a/simulation.c b/simulation.c @@ -1,11 +1,10 @@ -#include <stdio.h> -#include <stdlib.h> -#include <math.h> -#include <err.h> -#include "arrays.h" #include "simulation.h" +#include "arrays.h" #include "fluid.h" - +#include <err.h> +#include <math.h> +#include <stdio.h> +#include <stdlib.h> /* iteration limits for solvers */ #define MAX_ITER_GRANULAR 100000 @@ -16,11 +15,11 @@ /* solver statistics for benchmarking */ struct solver_stats { - long poisson_iters; - long darcy_iters; - long coupled_iters; - long stress_iters; - long timesteps; + long poisson_iters; + long darcy_iters; + long coupled_iters; + long stress_iters; + long timesteps; }; static struct solver_stats g_stats = {0, 0, 0, 0, 0}; @@ -28,986 +27,913 @@ static struct solver_stats g_stats = {0, 0, 0, 0, 0}; /* lower limit for effective normal stress sigma_n_eff for granular solver */ #define SIGMA_N_EFF_MIN 1e-1 - /* Simulation settings */ -void -init_sim(struct simulation *sim) -{ - int ret; - - ret = snprintf(sim->name, sizeof(sim->name), DEFAULT_SIMULATION_NAME); - if (ret < 0 || (size_t)ret == sizeof(sim->name)) - err(1, "%s: could not write simulation name", __func__); - - sim->G = 9.81; - sim->P_wall = 120e3; - sim->mu_wall = 0.45; - sim->v_x_bot = 0.0; - sim->v_x_fix = NAN; - sim->v_x_limit = NAN; - sim->nz = -1; /* cell size equals grain size if negative */ - - sim->A = 0.40; /* Loose fit to Damsgaard et al 2013 */ - sim->b = 0.9377; /* Henann and Kamrin 2016 */ - /* sim->mu_s = 0.3819; */ /* Henann and Kamrin 2016 */ - /* sim->C = 0.0; */ /* Henann and Kamrin 2016 */ - sim->mu_s = tan(DEG2RAD(22.0)); /* Damsgaard et al 2013 */ - sim->C = 0.0; /* Damsgaard et al 2013 */ - sim->phi = initval(0.25, 1); - sim->d = 0.04; /* Damsgaard et al 2013 */ - sim->transient = 0; - sim->phi_min = 0.20; - sim->phi_max = 0.55; - sim->dilatancy_constant = 4.09; /* Pailha & Pouliquen 2009 */ - - /* Iverson et al 1997, 1998: Storglaciaren till */ - /* sim->mu_s = tan(DEG2RAD(26.3)); */ - /* sim->C = 5.0e3; */ - /* sim->phi = initval(0.22, 1); */ - /* sim->d = ??; */ - - /* Iverson et al 1997, 1998: Two Rivers till */ - /* sim->mu_s = tan(DEG2RAD(17.8)); */ - /* sim->C = 14.0e3; */ - /* sim->phi = initval(0.37, 1); */ - /* sim->d = ??; */ - - /* Tulaczyk et al 2000a: Upstream B till */ - /* sim->mu_s = tan(DEG2RAD(23.9)); */ - /* sim->C = 3.0e3; */ - /* sim->phi = initval(0.35, 1); */ - /* sim->d = ??; */ - - sim->rho_s = 2.6e3; /* Damsgaard et al 2013 */ - sim->origo_z = 0.0; - sim->L_z = 1.0; - sim->t = 0.0; - sim->dt = 1.0; - sim->t_end = 1.0; - sim->file_dt = 1.0; - sim->n_file = 0; - sim->fluid = 0; - sim->rho_f = 1e3; - - /* Water at 20 deg C */ - /* sim->beta_f = 4.5e-10; */ /* Goren et al 2011 */ - /* sim->mu_f = 1.0-3; */ /* Goren et al 2011 */ - - /* Water at 0 deg C */ - sim->beta_f = 3.9e-10; /* doi:10.1063/1.1679903 */ - sim->mu_f = 1.787e-3; /* Cuffey and Paterson 2010 */ - - sim->alpha = 1e-8; - sim->D = -1.0; /* disabled when negative */ - - sim->k = initval(1.9e-15, 1); /* Damsgaard et al 2015 */ - - /* Iverson et al 1994: Storglaciaren */ - /* sim->k = initval(1.3e-14, 1); */ - - /* Engelhardt et al 1990: Upstream B */ - /* sim->k = initval(2.0e-16, 1); */ - - /* Leeman et al 2016: Upstream B till */ - /* sim->k = initval(4.9e-17, 1); */ - - /* no fluid-pressure variations */ - sim->p_f_top = 0.0; - sim->p_f_mod_ampl = 0.0; - sim->p_f_mod_freq = 1.0; - sim->p_f_mod_phase = 0.0; - sim->p_f_mod_pulse_time = NAN; - sim->p_f_mod_pulse_shape = 0; -} - -void -prepare_arrays(struct simulation *sim) -{ - if (sim->nz < 2) { - fprintf(stderr, "error: grid size (nz) must be at least 2 but is %d\n", - sim->nz); - exit(1); - } - free(sim->phi); - free(sim->k); - - sim->z = linspace(sim->origo_z, - sim->origo_z + sim->L_z, - sim->nz); - sim->dz = sim->z[1] - sim->z[0]; - sim->mu = zeros(sim->nz); - sim->mu_c = zeros(sim->nz); - sim->sigma_n_eff = zeros(sim->nz); - sim->sigma_n = zeros(sim->nz); - sim->p_f_ghost = zeros(sim->nz + 2); - sim->p_f_next_ghost = zeros(sim->nz + 2); - sim->p_f_dot = zeros(sim->nz); - sim->p_f_dot_expl = zeros(sim->nz); - sim->p_f_dot_impl = zeros(sim->nz); - sim->p_f_dot_impl_r_norm = zeros(sim->nz); - sim->phi = zeros(sim->nz); - sim->phi_c = zeros(sim->nz); - sim->phi_dot = zeros(sim->nz); - sim->k = zeros(sim->nz); - sim->xi = zeros(sim->nz); - sim->gamma_dot_p = zeros(sim->nz); - sim->v_x = zeros(sim->nz); - sim->d_x = zeros(sim->nz); - sim->g_local = zeros(sim->nz); - sim->g_ghost = zeros(sim->nz + 2); - sim->g_r_norm = zeros(sim->nz); - sim->I = zeros(sim->nz); - sim->tan_psi = zeros(sim->nz); - sim->old_val = empty(sim->nz); - sim->fluid_old_val = empty(sim->nz); - sim->tmp_ghost = empty(sim->nz + 2); - sim->p_f_dot_old = zeros(sim->nz); -} - -void -free_arrays(struct simulation *sim) -{ - free(sim->z); - free(sim->mu); - free(sim->mu_c); - free(sim->sigma_n_eff); - free(sim->sigma_n); - free(sim->p_f_ghost); - free(sim->p_f_next_ghost); - free(sim->p_f_dot); - free(sim->p_f_dot_expl); - free(sim->p_f_dot_impl); - free(sim->p_f_dot_impl_r_norm); - free(sim->k); - free(sim->phi); - free(sim->phi_c); - free(sim->phi_dot); - free(sim->xi); - free(sim->gamma_dot_p); - free(sim->v_x); - free(sim->d_x); - free(sim->g_local); - free(sim->g_ghost); - free(sim->g_r_norm); - free(sim->I); - free(sim->tan_psi); - free(sim->old_val); - free(sim->fluid_old_val); - free(sim->tmp_ghost); - free(sim->p_f_dot_old); -} - -static void -warn_parameter_value(const char message[], - const double value, - int *return_status) -{ - fprintf(stderr, - "check_simulation_parameters: %s (%.17g)\n", - message, value); - *return_status = 1; -} - -static void -check_float(const char name[], const double value, int *return_status) -{ - int ret; - char message[100]; +void init_sim(struct simulation *sim) { + int ret; + + ret = snprintf(sim->name, sizeof(sim->name), DEFAULT_SIMULATION_NAME); + if (ret < 0 || (size_t)ret == sizeof(sim->name)) + err(1, "%s: could not write simulation name", __func__); + + sim->G = 9.81; + sim->P_wall = 120e3; + sim->mu_wall = 0.45; + sim->v_x_bot = 0.0; + sim->v_x_fix = NAN; + sim->v_x_limit = NAN; + sim->nz = -1; /* cell size equals grain size if negative */ + + sim->A = 0.40; /* Loose fit to Damsgaard et al 2013 */ + sim->b = 0.9377; /* Henann and Kamrin 2016 */ + /* sim->mu_s = 0.3819; */ /* Henann and Kamrin 2016 */ + /* sim->C = 0.0; */ /* Henann and Kamrin 2016 */ + sim->mu_s = tan(DEG2RAD(22.0)); /* Damsgaard et al 2013 */ + sim->C = 0.0; /* Damsgaard et al 2013 */ + sim->phi = initval(0.25, 1); + sim->d = 0.04; /* Damsgaard et al 2013 */ + sim->transient = 0; + sim->phi_min = 0.20; + sim->phi_max = 0.55; + sim->dilatancy_constant = 4.09; /* Pailha & Pouliquen 2009 */ + + /* Iverson et al 1997, 1998: Storglaciaren till */ + /* sim->mu_s = tan(DEG2RAD(26.3)); */ + /* sim->C = 5.0e3; */ + /* sim->phi = initval(0.22, 1); */ + /* sim->d = ??; */ + + /* Iverson et al 1997, 1998: Two Rivers till */ + /* sim->mu_s = tan(DEG2RAD(17.8)); */ + /* sim->C = 14.0e3; */ + /* sim->phi = initval(0.37, 1); */ + /* sim->d = ??; */ + + /* Tulaczyk et al 2000a: Upstream B till */ + /* sim->mu_s = tan(DEG2RAD(23.9)); */ + /* sim->C = 3.0e3; */ + /* sim->phi = initval(0.35, 1); */ + /* sim->d = ??; */ + + sim->rho_s = 2.6e3; /* Damsgaard et al 2013 */ + sim->origo_z = 0.0; + sim->L_z = 1.0; + sim->t = 0.0; + sim->dt = 1.0; + sim->t_end = 1.0; + sim->file_dt = 1.0; + sim->n_file = 0; + sim->fluid = 0; + sim->rho_f = 1e3; + + /* Water at 20 deg C */ + /* sim->beta_f = 4.5e-10; */ /* Goren et al 2011 */ + /* sim->mu_f = 1.0-3; */ /* Goren et al 2011 */ + + /* Water at 0 deg C */ + sim->beta_f = 3.9e-10; /* doi:10.1063/1.1679903 */ + sim->mu_f = 1.787e-3; /* Cuffey and Paterson 2010 */ + + sim->alpha = 1e-8; + sim->D = -1.0; /* disabled when negative */ + + sim->k = initval(1.9e-15, 1); /* Damsgaard et al 2015 */ + + /* Iverson et al 1994: Storglaciaren */ + /* sim->k = initval(1.3e-14, 1); */ + + /* Engelhardt et al 1990: Upstream B */ + /* sim->k = initval(2.0e-16, 1); */ + + /* Leeman et al 2016: Upstream B till */ + /* sim->k = initval(4.9e-17, 1); */ + + /* no fluid-pressure variations */ + sim->p_f_top = 0.0; + sim->p_f_mod_ampl = 0.0; + sim->p_f_mod_freq = 1.0; + sim->p_f_mod_phase = 0.0; + sim->p_f_mod_pulse_time = NAN; + sim->p_f_mod_pulse_shape = 0; +} + +void prepare_arrays(struct simulation *sim) { + if (sim->nz < 2) { + fprintf(stderr, "error: grid size (nz) must be at least 2 but is %d\n", + sim->nz); + exit(1); + } + free(sim->phi); + free(sim->k); + + sim->z = linspace(sim->origo_z, sim->origo_z + sim->L_z, sim->nz); + sim->dz = sim->z[1] - sim->z[0]; + sim->mu = zeros(sim->nz); + sim->mu_c = zeros(sim->nz); + sim->sigma_n_eff = zeros(sim->nz); + sim->sigma_n = zeros(sim->nz); + sim->p_f_ghost = zeros(sim->nz + 2); + sim->p_f_next_ghost = zeros(sim->nz + 2); + sim->p_f_dot = zeros(sim->nz); + sim->p_f_dot_expl = zeros(sim->nz); + sim->p_f_dot_impl = zeros(sim->nz); + sim->p_f_dot_impl_r_norm = zeros(sim->nz); + sim->phi = zeros(sim->nz); + sim->phi_c = zeros(sim->nz); + sim->phi_dot = zeros(sim->nz); + sim->k = zeros(sim->nz); + sim->xi = zeros(sim->nz); + sim->gamma_dot_p = zeros(sim->nz); + sim->v_x = zeros(sim->nz); + sim->d_x = zeros(sim->nz); + sim->g_local = zeros(sim->nz); + sim->g_ghost = zeros(sim->nz + 2); + sim->g_r_norm = zeros(sim->nz); + sim->I = zeros(sim->nz); + sim->tan_psi = zeros(sim->nz); + sim->old_val = empty(sim->nz); + sim->fluid_old_val = empty(sim->nz); + sim->tmp_ghost = empty(sim->nz + 2); + sim->p_f_dot_old = zeros(sim->nz); +} + +void free_arrays(struct simulation *sim) { + free(sim->z); + free(sim->mu); + free(sim->mu_c); + free(sim->sigma_n_eff); + free(sim->sigma_n); + free(sim->p_f_ghost); + free(sim->p_f_next_ghost); + free(sim->p_f_dot); + free(sim->p_f_dot_expl); + free(sim->p_f_dot_impl); + free(sim->p_f_dot_impl_r_norm); + free(sim->k); + free(sim->phi); + free(sim->phi_c); + free(sim->phi_dot); + free(sim->xi); + free(sim->gamma_dot_p); + free(sim->v_x); + free(sim->d_x); + free(sim->g_local); + free(sim->g_ghost); + free(sim->g_r_norm); + free(sim->I); + free(sim->tan_psi); + free(sim->old_val); + free(sim->fluid_old_val); + free(sim->tmp_ghost); + free(sim->p_f_dot_old); +} + +static void warn_parameter_value(const char message[], const double value, + int *return_status) { + fprintf(stderr, "check_simulation_parameters: %s (%.17g)\n", message, value); + *return_status = 1; +} + +static void check_float(const char name[], const double value, + int *return_status) { + int ret; + char message[100]; #ifdef SHOW_PARAMETERS - printf("%30s: %.17g\n", name, value); + printf("%30s: %.17g\n", name, value); #endif - if (isnan(value)) { - ret = snprintf(message, sizeof(message), "%s is NaN", name); - if (ret < 0 || (size_t)ret >= sizeof(message)) - err(1, "%s: message parsing", __func__); - warn_parameter_value(message, value, return_status); - } else if (isinf(value)) { - ret = snprintf(message, sizeof(message), "%s is infinite", name); - if (ret < 0 || (size_t)ret >= sizeof(message)) - err(1, "%s: message parsing", __func__); - warn_parameter_value(message, value, return_status); - } -} - -void -check_simulation_parameters(struct simulation *sim) -{ - int return_status = 0; - - check_float("sim->G", sim->G, &return_status); - if (sim->G < 0.0) - warn_parameter_value("sim->G is negative", sim->G, &return_status); - - check_float("sim->P_wall", sim->P_wall, &return_status); - if (sim->P_wall < 0.0) - warn_parameter_value("sim->P_wall is negative", sim->P_wall, - &return_status); - - check_float("sim->v_x_bot", sim->v_x_bot, &return_status); - - check_float("sim->mu_wall", sim->mu_wall, &return_status); - if (sim->mu_wall < 0.0) - warn_parameter_value("sim->mu_wall is negative", sim->mu_wall, - &return_status); - - check_float("sim->A", sim->A, &return_status); - if (sim->A < 0.0) - warn_parameter_value("sim->A is negative", sim->A, &return_status); - - check_float("sim->b", sim->b, &return_status); - if (sim->b < 0.0) - warn_parameter_value("sim->b is negative", sim->b, &return_status); - - check_float("sim->mu_s", sim->mu_s, &return_status); - if (sim->mu_s < 0.0) - warn_parameter_value("sim->mu_s is negative", sim->mu_s, - &return_status); - - check_float("sim->C", sim->C, &return_status); - - check_float("sim->d", sim->d, &return_status); - if (sim->d <= 0.0) - warn_parameter_value("sim->d is not a positive number", sim->d, - &return_status); - - check_float("sim->rho_s", sim->rho_s, &return_status); - if (sim->rho_s <= 0.0) - warn_parameter_value("sim->rho_s is not a positive number", sim->rho_s, - &return_status); - - if (sim->nz <= 0) - warn_parameter_value("sim->nz is not a positive number", sim->nz, - &return_status); - - check_float("sim->origo_z", sim->origo_z, &return_status); - check_float("sim->L_z", sim->L_z, &return_status); - if (sim->L_z <= sim->origo_z) - warn_parameter_value("sim->L_z is smaller or equal to sim->origo_z", - sim->L_z, &return_status); - - if (sim->nz <= 0) - warn_parameter_value("sim->nz is not a positive number", sim->nz, - &return_status); - - check_float("sim->dz", sim->dz, &return_status); - if (sim->dz <= 0.0) - warn_parameter_value("sim->dz is not a positive number", sim->dz, - &return_status); - - check_float("sim->t", sim->t, &return_status); - if (sim->t < 0.0) - warn_parameter_value("sim->t is a negative number", - sim->t, &return_status); - - check_float("sim->t_end", sim->t_end, &return_status); - if (sim->t > sim->t_end) - warn_parameter_value("sim->t_end is smaller than sim->t", - sim->t, &return_status); - - check_float("sim->dt", sim->dt, &return_status); - if (sim->dt < 0.0) - warn_parameter_value("sim->dt is less than zero", - sim->dt, &return_status); - - check_float("sim->file_dt", sim->file_dt, &return_status); - if (sim->file_dt < 0.0) - warn_parameter_value("sim->file_dt is a negative number", - sim->file_dt, &return_status); - - check_float("sim->phi[0]", sim->phi[0], &return_status); - if (sim->phi[0] < 0.0 || sim->phi[0] > 1.0) - warn_parameter_value("sim->phi[0] is not within [0;1]", - sim->phi[0], &return_status); - - check_float("sim->phi_min", sim->phi_min, &return_status); - if (sim->phi_min < 0.0 || sim->phi_min > 1.0) - warn_parameter_value("sim->phi_min is not within [0;1]", - sim->phi_min, &return_status); - - check_float("sim->phi_max", sim->phi_max, &return_status); - if (sim->phi_max < 0.0 || sim->phi_max > 1.0) - warn_parameter_value("sim->phi_max is not within [0;1]", - sim->phi_max, &return_status); - - check_float("sim->dilatancy_constant", sim->dilatancy_constant, &return_status); - if (sim->dilatancy_constant < 0.0 || sim->dilatancy_constant > 100.0) - warn_parameter_value("sim->dilatancy_constant is not within [0;100]", - sim->dilatancy_constant, &return_status); - - if (sim->fluid != 0 && sim->fluid != 1) - warn_parameter_value("sim->fluid has an invalid value", - (double) sim->fluid, &return_status); - - if (sim->transient != 0 && sim->transient != 1) - warn_parameter_value("sim->transient has an invalid value", - (double) sim->transient, &return_status); - - if (sim->fluid) { - check_float("sim->p_f_mod_ampl", sim->p_f_mod_ampl, &return_status); - if (sim->p_f_mod_ampl < 0.0) - warn_parameter_value("sim->p_f_mod_ampl is not a zero or positive", - sim->p_f_mod_ampl, &return_status); - - check_float("sim->p_f_mod_freq", sim->p_f_mod_freq, &return_status); - if (sim->p_f_mod_freq < 0.0) - warn_parameter_value("sim->p_f_mod_freq is not a zero or positive", - sim->p_f_mod_freq, &return_status); - - check_float("sim->beta_f", sim->beta_f, &return_status); - if (sim->beta_f <= 0.0) - warn_parameter_value("sim->beta_f is not positive", - sim->beta_f, &return_status); - - check_float("sim->alpha", sim->alpha, &return_status); - if (sim->alpha <= 0.0) - warn_parameter_value("sim->alpha is not positive", - sim->alpha, &return_status); - - check_float("sim->mu_f", sim->mu_f, &return_status); - if (sim->mu_f <= 0.0) - warn_parameter_value("sim->mu_f is not positive", - sim->mu_f, &return_status); - - check_float("sim->rho_f", sim->rho_f, &return_status); - if (sim->rho_f <= 0.0) - warn_parameter_value("sim->rho_f is not positive", - sim->rho_f, &return_status); - - check_float("sim->k[0]", sim->k[0], &return_status); - if (sim->k[0] <= 0.0) - warn_parameter_value("sim->k[0] is not positive", - sim->k[0], &return_status); - - check_float("sim->D", sim->D, &return_status); - if (sim->transient && sim->D > 0.0) - warn_parameter_value("constant diffusivity does not work in " - "transient simulations", - sim->D, &return_status); - } - - if (return_status != 0) { - fprintf(stderr, "error: aborting due to invalid parameter choices\n"); - exit(return_status); - } -} - -void -lithostatic_pressure_distribution(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->sigma_n[i] = sim->P_wall - + (1.0 - sim->phi[i]) * sim->rho_s * sim->G - * (sim->L_z - sim->z[i]); -} - -inline static double -inertia_number(double gamma_dot_p, double d, double sigma_n_eff, double rho_s) -{ - return fabs(gamma_dot_p) * d / sqrt(sigma_n_eff / rho_s); -} - -void -compute_inertia_number(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->I[i] = inertia_number(sim->gamma_dot_p[i], - sim->d, - fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), - sim->rho_s); -} - -void -compute_critical_state_porosity(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->phi_c[i] = sim->phi_min - + (sim->phi_max - sim->phi_min) * sim->I[i]; + if (isnan(value)) { + ret = snprintf(message, sizeof(message), "%s is NaN", name); + if (ret < 0 || (size_t)ret >= sizeof(message)) + err(1, "%s: message parsing", __func__); + warn_parameter_value(message, value, return_status); + } else if (isinf(value)) { + ret = snprintf(message, sizeof(message), "%s is infinite", name); + if (ret < 0 || (size_t)ret >= sizeof(message)) + err(1, "%s: message parsing", __func__); + warn_parameter_value(message, value, return_status); + } +} + +void check_simulation_parameters(struct simulation *sim) { + int return_status = 0; + + check_float("sim->G", sim->G, &return_status); + if (sim->G < 0.0) + warn_parameter_value("sim->G is negative", sim->G, &return_status); + + check_float("sim->P_wall", sim->P_wall, &return_status); + if (sim->P_wall < 0.0) + warn_parameter_value("sim->P_wall is negative", sim->P_wall, + &return_status); + + check_float("sim->v_x_bot", sim->v_x_bot, &return_status); + + check_float("sim->mu_wall", sim->mu_wall, &return_status); + if (sim->mu_wall < 0.0) + warn_parameter_value("sim->mu_wall is negative", sim->mu_wall, + &return_status); + + check_float("sim->A", sim->A, &return_status); + if (sim->A < 0.0) + warn_parameter_value("sim->A is negative", sim->A, &return_status); + + check_float("sim->b", sim->b, &return_status); + if (sim->b < 0.0) + warn_parameter_value("sim->b is negative", sim->b, &return_status); + + check_float("sim->mu_s", sim->mu_s, &return_status); + if (sim->mu_s < 0.0) + warn_parameter_value("sim->mu_s is negative", sim->mu_s, &return_status); + + check_float("sim->C", sim->C, &return_status); + + check_float("sim->d", sim->d, &return_status); + if (sim->d <= 0.0) + warn_parameter_value("sim->d is not a positive number", sim->d, + &return_status); + + check_float("sim->rho_s", sim->rho_s, &return_status); + if (sim->rho_s <= 0.0) + warn_parameter_value("sim->rho_s is not a positive number", sim->rho_s, + &return_status); + + if (sim->nz <= 0) + warn_parameter_value("sim->nz is not a positive number", sim->nz, + &return_status); + + check_float("sim->origo_z", sim->origo_z, &return_status); + check_float("sim->L_z", sim->L_z, &return_status); + if (sim->L_z <= sim->origo_z) + warn_parameter_value("sim->L_z is smaller or equal to sim->origo_z", + sim->L_z, &return_status); + + if (sim->nz <= 0) + warn_parameter_value("sim->nz is not a positive number", sim->nz, + &return_status); + + check_float("sim->dz", sim->dz, &return_status); + if (sim->dz <= 0.0) + warn_parameter_value("sim->dz is not a positive number", sim->dz, + &return_status); + + check_float("sim->t", sim->t, &return_status); + if (sim->t < 0.0) + warn_parameter_value("sim->t is a negative number", sim->t, &return_status); + + check_float("sim->t_end", sim->t_end, &return_status); + if (sim->t > sim->t_end) + warn_parameter_value("sim->t_end is smaller than sim->t", sim->t, + &return_status); + + check_float("sim->dt", sim->dt, &return_status); + if (sim->dt < 0.0) + warn_parameter_value("sim->dt is less than zero", sim->dt, &return_status); + + check_float("sim->file_dt", sim->file_dt, &return_status); + if (sim->file_dt < 0.0) + warn_parameter_value("sim->file_dt is a negative number", sim->file_dt, + &return_status); + + check_float("sim->phi[0]", sim->phi[0], &return_status); + if (sim->phi[0] < 0.0 || sim->phi[0] > 1.0) + warn_parameter_value("sim->phi[0] is not within [0;1]", sim->phi[0], + &return_status); + + check_float("sim->phi_min", sim->phi_min, &return_status); + if (sim->phi_min < 0.0 || sim->phi_min > 1.0) + warn_parameter_value("sim->phi_min is not within [0;1]", sim->phi_min, + &return_status); + + check_float("sim->phi_max", sim->phi_max, &return_status); + if (sim->phi_max < 0.0 || sim->phi_max > 1.0) + warn_parameter_value("sim->phi_max is not within [0;1]", sim->phi_max, + &return_status); + + check_float("sim->dilatancy_constant", sim->dilatancy_constant, + &return_status); + if (sim->dilatancy_constant < 0.0 || sim->dilatancy_constant > 100.0) + warn_parameter_value("sim->dilatancy_constant is not within [0;100]", + sim->dilatancy_constant, &return_status); + + if (sim->fluid != 0 && sim->fluid != 1) + warn_parameter_value("sim->fluid has an invalid value", (double)sim->fluid, + &return_status); + + if (sim->transient != 0 && sim->transient != 1) + warn_parameter_value("sim->transient has an invalid value", + (double)sim->transient, &return_status); + + if (sim->fluid) { + check_float("sim->p_f_mod_ampl", sim->p_f_mod_ampl, &return_status); + if (sim->p_f_mod_ampl < 0.0) + warn_parameter_value("sim->p_f_mod_ampl is not a zero or positive", + sim->p_f_mod_ampl, &return_status); + + check_float("sim->p_f_mod_freq", sim->p_f_mod_freq, &return_status); + if (sim->p_f_mod_freq < 0.0) + warn_parameter_value("sim->p_f_mod_freq is not a zero or positive", + sim->p_f_mod_freq, &return_status); + + check_float("sim->beta_f", sim->beta_f, &return_status); + if (sim->beta_f <= 0.0) + warn_parameter_value("sim->beta_f is not positive", sim->beta_f, + &return_status); + + check_float("sim->alpha", sim->alpha, &return_status); + if (sim->alpha <= 0.0) + warn_parameter_value("sim->alpha is not positive", sim->alpha, + &return_status); + + check_float("sim->mu_f", sim->mu_f, &return_status); + if (sim->mu_f <= 0.0) + warn_parameter_value("sim->mu_f is not positive", sim->mu_f, + &return_status); + + check_float("sim->rho_f", sim->rho_f, &return_status); + if (sim->rho_f <= 0.0) + warn_parameter_value("sim->rho_f is not positive", sim->rho_f, + &return_status); + + check_float("sim->k[0]", sim->k[0], &return_status); + if (sim->k[0] <= 0.0) + warn_parameter_value("sim->k[0] is not positive", sim->k[0], + &return_status); + + check_float("sim->D", sim->D, &return_status); + if (sim->transient && sim->D > 0.0) + warn_parameter_value("constant diffusivity does not work in " + "transient simulations", + sim->D, &return_status); + } + + if (return_status != 0) { + fprintf(stderr, "error: aborting due to invalid parameter choices\n"); + exit(return_status); + } +} + +void lithostatic_pressure_distribution(struct simulation *sim) { + int i; + + for (i = 0; i < sim->nz; ++i) + sim->sigma_n[i] = sim->P_wall + (1.0 - sim->phi[i]) * sim->rho_s * sim->G * + (sim->L_z - sim->z[i]); } -void -compute_critical_state_friction(struct simulation *sim) -{ - int i; - - if (sim->fluid) - for (i = 0; i < sim->nz; ++i) - sim->mu_c[i] = sim->mu_wall - / (fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN) - / (sim->P_wall - sim->p_f_top)); - else - for (i = 0; i < sim->nz; ++i) - sim->mu_c[i] = sim->mu_wall - / (1.0 + (1.0 - sim->phi[i]) * sim->rho_s * sim->G * - (sim->L_z - sim->z[i]) / sim->P_wall); +inline static double inertia_number(double gamma_dot_p, double d, + double sigma_n_eff, double rho_s) { + return fabs(gamma_dot_p) * d / sqrt(sigma_n_eff / rho_s); } -static void -compute_friction(struct simulation *sim) -{ - int i; +void compute_inertia_number(struct simulation *sim) { + int i; - if (sim->transient) - for (i = 0; i < sim->nz; ++i) - sim->mu[i] = sim->mu_c[i] + sim->tan_psi[i]; - else - for (i = 0; i < sim->nz; ++i) - sim->mu[i] = sim->mu_c[i]; + for (i = 0; i < sim->nz; ++i) + sim->I[i] = + inertia_number(sim->gamma_dot_p[i], sim->d, + fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), sim->rho_s); } -static void -compute_tan_dilatancy_angle(struct simulation *sim) -{ - int i; +void compute_critical_state_porosity(struct simulation *sim) { + int i; - for (i = 0; i < sim->nz; ++i) - sim->tan_psi[i] = sim->dilatancy_constant * (sim->phi_c[i] - sim->phi[i]); + for (i = 0; i < sim->nz; ++i) + sim->phi_c[i] = sim->phi_min + (sim->phi_max - sim->phi_min) * sim->I[i]; } -static void -compute_transient_fields(struct simulation *sim) -{ - int i; - - /* Fused loop: compute I, phi_c, and tan_psi in single pass */ - for (i = 0; i < sim->nz; ++i) { - /* Eq. 1: Inertia number */ - sim->I[i] = inertia_number(sim->gamma_dot_p[i], - sim->d, - fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), - sim->rho_s); +void compute_critical_state_friction(struct simulation *sim) { + int i; + + if (sim->fluid) + for (i = 0; i < sim->nz; ++i) + sim->mu_c[i] = + sim->mu_wall / (fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN) / + (sim->P_wall - sim->p_f_top)); + else + for (i = 0; i < sim->nz; ++i) + sim->mu_c[i] = + sim->mu_wall / (1.0 + (1.0 - sim->phi[i]) * sim->rho_s * sim->G * + (sim->L_z - sim->z[i]) / sim->P_wall); +} - /* Eq. 2: Critical state porosity */ - sim->phi_c[i] = sim->phi_min - + (sim->phi_max - sim->phi_min) * sim->I[i]; +static void compute_friction(struct simulation *sim) { + int i; - /* Eq. 5: Dilatancy angle */ - sim->tan_psi[i] = sim->dilatancy_constant * (sim->phi_c[i] - sim->phi[i]); - } + if (sim->transient) + for (i = 0; i < sim->nz; ++i) + sim->mu[i] = sim->mu_c[i] + sim->tan_psi[i]; + else + for (i = 0; i < sim->nz; ++i) + sim->mu[i] = sim->mu_c[i]; } -static void -compute_porosity_change(struct simulation *sim) -{ - int i; +static void compute_tan_dilatancy_angle(struct simulation *sim) { + int i; - for (i = 0; i < sim->nz; ++i) - sim->phi_dot[i] = sim->tan_psi[i] * sim->gamma_dot_p[i] * sim->phi[i]; -} - -double -kozeny_carman(const double diameter, const double porosity) -{ - return pow(diameter, 2.0) / 180.0 - * pow(porosity, 3.0) - / pow(1.0 - porosity, 2.0); -} - -static void -compute_permeability(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->k[i] = kozeny_carman(sim->d, sim->phi[i]); -} - -static double -shear_strain_rate_plastic(const double fluidity, const double friction) -{ - return fluidity * friction; -} - -static void -compute_shear_strain_rate_plastic(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->gamma_dot_p[i] = shear_strain_rate_plastic(sim->g_ghost[i + 1], - sim->mu[i]); -} - -static void -compute_shear_velocity(struct simulation *sim) -{ - int i; - - /* TODO: implement iterative solver for v_x from gamma_dot_p field */ - /* Dirichlet BC at bottom */ - sim->v_x[0] = sim->v_x_bot; - - for (i = 1; i < sim->nz; ++i) - sim->v_x[i] = sim->v_x[i - 1] + sim->gamma_dot_p[i] * sim->dz; -} - -void -compute_effective_stress(struct simulation *sim) -{ - int i; - - if (sim->fluid) - for (i = 0; i < sim->nz; ++i) { - /* use implicit (next-step) pressure for tighter coupling */ - sim->sigma_n_eff[i] = sim->sigma_n[i] - - sim->p_f_next_ghost[i + 1]; - if (sim->sigma_n_eff[i] < 0) - warnx("%s: sigma_n_eff[%d] is negative with value %g", - __func__, i, sim->sigma_n_eff[i]); - } - else - for (i = 0; i < sim->nz; ++i) - sim->sigma_n_eff[i] = sim->sigma_n[i]; -} - -static double -cooperativity_length(const double A, - const double d, - const double mu, - const double p, - const double mu_s, - const double C) -{ - double denom = fmax(fabs((mu - C / p) - mu_s), 1e-10); - return A * d / sqrt(denom); -} - -static void -compute_cooperativity_length(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->xi[i] = cooperativity_length(sim->A, - sim->d, - sim->mu[i], - fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), - sim->mu_s, - sim->C); -} - -static double -local_fluidity(const double p, - const double mu, - const double mu_s, - const double C, - const double b, - const double rho_s, - const double d) -{ - if (mu - C / p <= mu_s) - return 0.0; - else - return sqrt(p / (rho_s * d * d)) * ((mu - C / p) - mu_s) / (b * mu); -} - -static void -compute_local_fluidity(struct simulation *sim) -{ - int i; - - for (i = 0; i < sim->nz; ++i) - sim->g_local[i] = local_fluidity(fmax(sim->sigma_n_eff[i], - SIGMA_N_EFF_MIN), - sim->mu[i], - sim->mu_s, - sim->C, - sim->b, - sim->rho_s, - sim->d); -} - -void -set_bc_neumann(double *a, - const int nz, - const int boundary, - const double df, - const double dx) -{ - if (boundary == -1) - a[0] = a[1] + df * dx; - else if (boundary == +1) - a[nz + 1] = a[nz] - df * dx; - else - errx(1, "%s: Unknown boundary %d\n", __func__, boundary); -} - -void -set_bc_dirichlet(double *a, - const int nz, - const int boundary, - const double value) -{ - if (boundary == -1) - a[0] = value; - else if (boundary == +1) - a[nz + 1] = value; - else - errx(1, "%s: Unknown boundary %d\n", __func__, boundary); -} - -double -residual(double new_val, double old_val) -{ - return (new_val - old_val) / (fmax(fabs(old_val), fabs(new_val)) + 1e-16); -} - -static void -poisson_solver_1d_sor_cell_update(int i, - double *g, - const double *g_local, - double *r_norm, - const double dz, - const double *xi, - const double omega) -{ - double coorp_term = dz * dz / (2.0 * xi[i] * xi[i]); - double g_old = g[i + 1]; - - /* Gauss-Seidel update (uses already-updated g[i] from this iteration) */ - double g_gs = 1.0 / (1.0 + coorp_term) - * (coorp_term * g_local[i] + g[i + 2] / 2.0 - + g[i] / 2.0); - - /* SOR relaxation */ - g[i + 1] = (1.0 - omega) * g_old + omega * g_gs; - r_norm[i] = fabs(residual(g[i + 1], g_old)); + for (i = 0; i < sim->nz; ++i) + sim->tan_psi[i] = sim->dilatancy_constant * (sim->phi_c[i] - sim->phi[i]); +} -#ifdef DEBUG - printf("-- %d --------------\n", i); - printf("coorp_term: %g\n", coorp_term); - printf(" g_local: %g\n", g_local[i]); - printf(" g_old: %g\n", g_old); - printf(" g_gs: %g\n", g_gs); - printf(" g_new: %g\n", g[i + 1]); - printf(" r_norm: %g\n", r_norm[i]); -#endif +static void compute_transient_fields(struct simulation *sim) { + int i; + + /* Fused loop: compute I, phi_c, and tan_psi in single pass */ + for (i = 0; i < sim->nz; ++i) { + /* Eq. 1: Inertia number */ + sim->I[i] = + inertia_number(sim->gamma_dot_p[i], sim->d, + fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), sim->rho_s); + + /* Eq. 2: Critical state porosity */ + sim->phi_c[i] = sim->phi_min + (sim->phi_max - sim->phi_min) * sim->I[i]; + + /* Eq. 5: Dilatancy angle */ + sim->tan_psi[i] = sim->dilatancy_constant * (sim->phi_c[i] - sim->phi[i]); + } } -static int -implicit_1d_sor_poisson_solver(struct simulation *sim, - const int max_iter, - const double rel_tol) -{ - int iter, i; - double r_norm_max = NAN; - const double omega = 1.2; /* SOR relaxation parameter */ +static void compute_porosity_change(struct simulation *sim) { + int i; - for (iter = 0; iter < max_iter; ++iter) { -#ifdef DEBUG - printf("\n@@@ %s: ITERATION %d @@@\n", __func__, iter); -#endif - /* Dirichlet BCs resemble fixed particle velocities */ - set_bc_dirichlet(sim->g_ghost, sim->nz, -1, 0.0); - set_bc_dirichlet(sim->g_ghost, sim->nz, +1, 0.0); - - /* Neumann BCs resemble free surfaces */ - /* set_bc_neumann(sim->g_ghost, sim->nz, +1, 0.0, sim->dz); */ - - /* SOR updates g_ghost in-place, using already-updated values */ - for (i = 0; i < sim->nz; ++i) - poisson_solver_1d_sor_cell_update(i, - sim->g_ghost, - sim->g_local, - sim->g_r_norm, - sim->dz, - sim->xi, - omega); - r_norm_max = max_with_threshold(sim->g_r_norm, sim->nz, rel_tol); - - if (r_norm_max <= rel_tol) { - set_bc_dirichlet(sim->g_ghost, sim->nz, -1, 0.0); - set_bc_dirichlet(sim->g_ghost, sim->nz, +1, 0.0); -#ifdef DEBUG - printf(".. Solution converged after %d iterations\n", iter + 1); -#endif - g_stats.poisson_iters += iter + 1; - return 0; - } - } - - fprintf(stderr, "implicit_1d_sor_poisson_solver: "); - fprintf(stderr, "Solution did not converge after %d iterations\n", iter + 1); - fprintf(stderr, ".. Residual normalized error: %f\n", r_norm_max); - g_stats.poisson_iters += iter + 1; - return 1; -} - -void -write_output_file(struct simulation *sim, const int normalize) -{ - int ret; - char outfile[200]; - FILE *fp; - - ret = snprintf(outfile, sizeof(outfile), "%s.output%05d.txt", - sim->name, sim->n_file++); - if (ret < 0 || (size_t)ret >= sizeof(outfile)) - err(1, "%s: outfile snprintf", __func__); - - if ((fp = fopen(outfile, "w")) != NULL) { - print_output(sim, fp, normalize); - fclose(fp); - } else { - fprintf(stderr, "could not open output file: %s", outfile); - exit(1); - } -} - -void -print_output(struct simulation *sim, FILE *fp, const int norm) -{ - int i; - double *v_x_out; - - if (norm) - v_x_out = normalize(sim->v_x, sim->nz); - else - v_x_out = copy(sim->v_x, sim->nz); - - for (i = 0; i < sim->nz; ++i) - fprintf(fp, - "%.17g\t%.17g\t%.17g\t" - "%.17g\t%.17g\t%.17g\t" - "%.17g\t%.17g\t%.17g\t%.17g" - "\n", - sim->z[i], - v_x_out[i], - sim->sigma_n_eff[i], - sim->p_f_ghost[i + 1], - sim->mu[i], - sim->gamma_dot_p[i], - sim->phi[i], - sim->I[i], - sim->mu[i] * fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), - sim->d_x[i]); - - free(v_x_out); -} - -static void -temporal_increment(struct simulation *sim) -{ - int i; - - if (sim->transient) - for (i = 0; i < sim->nz; ++i) - sim->phi[i] += sim->phi_dot[i] * sim->dt; - - if (sim->fluid) - for (i = 0; i < sim->nz; ++i) { - if (isnan(sim->p_f_dot[i])) { - errx(1, "encountered NaN at sim->p_f_dot[%d] (t = %g s)", - i, sim->t); - } else { - sim->p_f_ghost[i + 1] += sim->p_f_dot[i] * sim->dt; - } - } - - for (i = 0; i < sim->nz; ++i) - sim->d_x[i] += sim->v_x[i] * sim->dt; - sim->t += sim->dt; -} - -int -coupled_shear_solver(struct simulation *sim, - const int max_iter, - const double rel_tol) -{ - int i, coupled_iter, stress_iter = 0; - double r_norm_max, vel_res_norm = NAN, mu_wall_orig = sim->mu_wall; - - copy_values(sim->p_f_ghost, sim->p_f_next_ghost, sim->nz + 2); - compute_effective_stress(sim); /* Eq. 9 */ - - do { /* stress iterations */ - coupled_iter = 0; - do { /* coupled iterations */ - - if (sim->transient) { - copy_values(sim->phi_dot, sim->old_val, sim->nz); - - /* steps 1-3: fused computation of I, phi_c, tan_psi */ - compute_transient_fields(sim); /* Eqs. 1, 2, 5 */ - } - compute_critical_state_friction(sim); /* Eq. 7 */ - - /* step 4 */ - if (sim->transient) { - compute_porosity_change(sim); /* Eq. 3 */ - compute_permeability(sim); /* Eq. 6 */ - } - compute_friction(sim); /* Eq. 4 */ - - /* step 5, Eq. 13 */ - if (sim->fluid && (sim->t > 0) ) - if (darcy_solver_1d(sim, MAX_ITER_DARCY, 1e-3 * rel_tol)) - exit(11); - - /* step 6 */ - compute_effective_stress(sim); /* Eq. 9 */ - - /* step 7 */ - compute_local_fluidity(sim); /* Eq. 10 */ - compute_cooperativity_length(sim); /* Eq. 12 */ - - /* step 8, Eq. 11 */ - if (implicit_1d_sor_poisson_solver(sim, - MAX_ITER_GRANULAR, - rel_tol)) - exit(12); - - /* step 9 */ - compute_shear_strain_rate_plastic(sim); /* Eq. 8 */ - compute_inertia_number(sim); /* Eq. 1 */ - compute_shear_velocity(sim); + for (i = 0; i < sim->nz; ++i) + sim->phi_dot[i] = sim->tan_psi[i] * sim->gamma_dot_p[i] * sim->phi[i]; +} + +double kozeny_carman(const double diameter, const double porosity) { + return (diameter * diameter) / 180.0 * (porosity * porosity * porosity) / + ((1.0 - porosity) * (1.0 - porosity)); +} + +static void compute_permeability(struct simulation *sim) { + int i; + + for (i = 0; i < sim->nz; ++i) + sim->k[i] = kozeny_carman(sim->d, sim->phi[i]); +} + +static double shear_strain_rate_plastic(const double fluidity, + const double friction) { + return fluidity * friction; +} + +static void compute_shear_strain_rate_plastic(struct simulation *sim) { + int i; + + for (i = 0; i < sim->nz; ++i) + sim->gamma_dot_p[i] = + shear_strain_rate_plastic(sim->g_ghost[i + 1], sim->mu[i]); +} + +static void compute_shear_velocity(struct simulation *sim) { + int i; + + /* TODO: implement iterative solver for v_x from gamma_dot_p field */ + /* Dirichlet BC at bottom */ + sim->v_x[0] = sim->v_x_bot; + + for (i = 1; i < sim->nz; ++i) + sim->v_x[i] = sim->v_x[i - 1] + sim->gamma_dot_p[i] * sim->dz; +} + +void compute_effective_stress(struct simulation *sim) { + int i; + + if (sim->fluid) + for (i = 0; i < sim->nz; ++i) { + /* use implicit (next-step) pressure for tighter coupling */ + sim->sigma_n_eff[i] = sim->sigma_n[i] - sim->p_f_next_ghost[i + 1]; + if (sim->sigma_n_eff[i] < 0) + warnx("%s: sigma_n_eff[%d] is negative with value %g", __func__, i, + sim->sigma_n_eff[i]); + } + else + for (i = 0; i < sim->nz; ++i) + sim->sigma_n_eff[i] = sim->sigma_n[i]; +} + +static double cooperativity_length(const double A, const double d, + const double mu, const double p, + const double mu_s, const double C) { + double denom = fmax(fabs((mu - C / p) - mu_s), 1e-10); + return A * d / sqrt(denom); +} + +static void compute_cooperativity_length(struct simulation *sim) { + int i; + + for (i = 0; i < sim->nz; ++i) + sim->xi[i] = cooperativity_length( + sim->A, sim->d, sim->mu[i], fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), + sim->mu_s, sim->C); +} + +static double local_fluidity(const double p, const double mu, const double mu_s, + const double C, const double b, const double rho_s, + const double d) { + if (mu - C / p <= mu_s) + return 0.0; + else + return sqrt(p / (rho_s * d * d)) * ((mu - C / p) - mu_s) / (b * mu); +} + +static void compute_local_fluidity(struct simulation *sim) { + int i; + + for (i = 0; i < sim->nz; ++i) + sim->g_local[i] = + local_fluidity(fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), sim->mu[i], + sim->mu_s, sim->C, sim->b, sim->rho_s, sim->d); +} + +void set_bc_neumann(double *a, const int nz, const int boundary, + const double df, const double dx) { + if (boundary == -1) + a[0] = a[1] + df * dx; + else if (boundary == +1) + a[nz + 1] = a[nz] - df * dx; + else + errx(1, "%s: Unknown boundary %d\n", __func__, boundary); +} + +void set_bc_dirichlet(double *a, const int nz, const int boundary, + const double value) { + if (boundary == -1) + a[0] = value; + else if (boundary == +1) + a[nz + 1] = value; + else + errx(1, "%s: Unknown boundary %d\n", __func__, boundary); +} + +double residual(double new_val, double old_val) { + return (new_val - old_val) / (fmax(fabs(old_val), fabs(new_val)) + 1e-16); +} + +static void tridiagonal_solver(double *x, const double *a, const double *b, + const double *c, double *d, int n) { + /* + * TDMA (Thomas Algorithm) solver for tridiagonal system + * a: sub-diagonal (means a[i] is coeff for x[i-1]) + * b: main diagonal (means b[i] is coeff for x[i]) + * c: super-diagonal (means c[i] is coeff for x[i+1]) + * d: right hand side + * x: solution vector + * n: system size + * + * Note: This implementation assumes 0-indexed arrays, where: + * Eq i (0 <= i < n): a[i]*x[i-1] + b[i]*x[i] + c[i]*x[i+1] = d[i] + * Boundary conditions: a[0] = 0 and c[n-1] = 0 (assumed to be handled by + * caller or zeroed) + */ + int i; + double *c_prime = empty(n); + double *d_prime = empty(n); + + /* Forward sweep */ + c_prime[0] = c[0] / b[0]; + d_prime[0] = d[0] / b[0]; + + for (i = 1; i < n; i++) { + double temp = 1.0 / (b[i] - a[i] * c_prime[i - 1]); + c_prime[i] = c[i] * temp; + d_prime[i] = (d[i] - a[i] * d_prime[i - 1]) * temp; + } + + /* Back substitution */ + x[n - 1] = d_prime[n - 1]; + for (i = n - 2; i >= 0; i--) { + x[i] = d_prime[i] - c_prime[i] * x[i + 1]; + } + + free(c_prime); + free(d_prime); +} + +static int implicit_1d_sor_poisson_solver(struct simulation *sim, + const int max_iter, + const double rel_tol) { + /* + * Replaced SOR solver with direct TDMA solver. + * System: -0.5*g[i-1] + (1 + C)*g[i] - 0.5*g[i+1] = C*g_local[i] + * where C = dz^2 / (2 * xi^2) + */ + int i; + int n = sim->nz; + double *a = empty(n); + double *b = empty(n); + double *c = empty(n); + double *d = empty(n); + double *x = empty(n); + + /* Set up TDMA arrays */ + for (i = 0; i < n; i++) { + double coorp_term = sim->dz * sim->dz / (2.0 * sim->xi[i] * sim->xi[i]); + + a[i] = -0.5; + b[i] = 1.0 + coorp_term; + c[i] = -0.5; + d[i] = coorp_term * sim->g_local[i]; + } + + /* Boundary conditions adjustment */ + /* g[-1] = 0 (sim->g_ghost[0]) -> a[0]*0 term vanishes */ + /* g[n] = 0 (sim->g_ghost[n+1]) -> c[n-1]*0 term vanishes */ + /* But TDMA solver assumes a[0] and c[n-1] are coefficients in the matrix, + which should be 0 for the first and last row if we strictly follow standard + TDMA for isolated systems. However, our equation for i=0 is: -0.5*g{-1} + + b[0]*g{0} + c[0]*g{1} = d[0] Since g{-1}=0, the term -0.5*g{-1} is 0. So + effectively a[0]=0 in the matrix sense. Same for i=n-1: c[n-1]*g{n} is 0. + */ + a[0] = 0.0; + c[n - 1] = 0.0; + + tridiagonal_solver(x, a, b, c, d, n); + + /* Copy result back to ghost array (indices 1 to n) */ + set_bc_dirichlet(sim->g_ghost, sim->nz, -1, 0.0); + set_bc_dirichlet(sim->g_ghost, sim->nz, +1, 0.0); + for (i = 0; i < n; i++) { + sim->g_ghost[i + 1] = x[i]; + } + + free(a); + free(b); + free(c); + free(d); + free(x); + + g_stats.poisson_iters += 1; /* Count as 1 iteration for stats */ + return 0; +} + +void write_output_file(struct simulation *sim, const int normalize) { + int ret; + char outfile[200]; + FILE *fp; + + ret = snprintf(outfile, sizeof(outfile), "%s.output%05d.txt", sim->name, + sim->n_file++); + if (ret < 0 || (size_t)ret >= sizeof(outfile)) + err(1, "%s: outfile snprintf", __func__); + + if ((fp = fopen(outfile, "w")) != NULL) { + print_output(sim, fp, normalize); + fclose(fp); + } else { + fprintf(stderr, "could not open output file: %s", outfile); + exit(1); + } +} + +void print_output(struct simulation *sim, FILE *fp, const int norm) { + int i; + double *v_x_out; + + if (norm) + v_x_out = normalize(sim->v_x, sim->nz); + else + v_x_out = copy(sim->v_x, sim->nz); + + for (i = 0; i < sim->nz; ++i) + fprintf(fp, + "%.17g\t%.17g\t%.17g\t" + "%.17g\t%.17g\t%.17g\t" + "%.17g\t%.17g\t%.17g\t%.17g" + "\n", + sim->z[i], v_x_out[i], sim->sigma_n_eff[i], sim->p_f_ghost[i + 1], + sim->mu[i], sim->gamma_dot_p[i], sim->phi[i], sim->I[i], + sim->mu[i] * fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), + sim->d_x[i]); + + free(v_x_out); +} + +static void temporal_increment(struct simulation *sim) { + int i; + + if (sim->transient) + for (i = 0; i < sim->nz; ++i) + sim->phi[i] += sim->phi_dot[i] * sim->dt; + + if (sim->fluid) + for (i = 0; i < sim->nz; ++i) { + if (isnan(sim->p_f_dot[i])) { + errx(1, "encountered NaN at sim->p_f_dot[%d] (t = %g s)", i, sim->t); + } else { + sim->p_f_ghost[i + 1] += sim->p_f_dot[i] * sim->dt; + } + } + + for (i = 0; i < sim->nz; ++i) + sim->d_x[i] += sim->v_x[i] * sim->dt; + sim->t += sim->dt; +} + +int coupled_shear_solver(struct simulation *sim, const int max_iter, + const double rel_tol) { + int i, coupled_iter, stress_iter = 0; + double r_norm_max, vel_res_norm = NAN, mu_wall_orig = sim->mu_wall; + + copy_values(sim->p_f_ghost, sim->p_f_next_ghost, sim->nz + 2); + compute_effective_stress(sim); /* Eq. 9 */ + + do { /* stress iterations */ + coupled_iter = 0; + do { /* coupled iterations */ + + if (sim->transient) { + copy_values(sim->phi_dot, sim->old_val, sim->nz); + + /* Fused loop for Eqs. 1-6 */ + for (i = 0; i < sim->nz; ++i) { + /* Eq. 1: Inertia number */ + sim->I[i] = inertia_number(sim->gamma_dot_p[i], sim->d, + fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN), + sim->rho_s); + + /* Eq. 2: Critical state porosity */ + sim->phi_c[i] = + sim->phi_min + (sim->phi_max - sim->phi_min) * sim->I[i]; + + /* Eq. 5: Dilatancy angle */ + sim->tan_psi[i] = + sim->dilatancy_constant * (sim->phi_c[i] - sim->phi[i]); + + /* Eq. 7: Critical state friction */ + if (sim->fluid) + sim->mu_c[i] = + sim->mu_wall / (fmax(sim->sigma_n_eff[i], SIGMA_N_EFF_MIN) / + (sim->P_wall - sim->p_f_top)); + else + sim->mu_c[i] = sim->mu_wall / + (1.0 + (1.0 - sim->phi[i]) * sim->rho_s * sim->G * + (sim->L_z - sim->z[i]) / sim->P_wall); + + /* Eq. 3: Porosity change */ + sim->phi_dot[i] = sim->tan_psi[i] * sim->gamma_dot_p[i] * sim->phi[i]; + + /* Eq. 6: Permeability */ + sim->k[i] = kozeny_carman(sim->d, sim->phi[i]); + + /* Eq. 4: Friction */ + sim->mu[i] = sim->mu_c[i] + sim->tan_psi[i]; + } + } else { + /* Non-transient case */ + compute_critical_state_friction(sim); + compute_friction(sim); + } + + /* step 5, Eq. 13 */ + if (sim->fluid && (sim->t > 0)) + if (darcy_solver_1d(sim, MAX_ITER_DARCY, 1e-3 * rel_tol)) + exit(11); + + /* step 6 */ + compute_effective_stress(sim); /* Eq. 9 */ + + /* step 7 */ + compute_local_fluidity(sim); /* Eq. 10 */ + compute_cooperativity_length(sim); /* Eq. 12 */ + + /* step 8, Eq. 11 */ + if (implicit_1d_sor_poisson_solver(sim, MAX_ITER_GRANULAR, rel_tol)) + exit(12); + + /* step 9 */ + compute_shear_strain_rate_plastic(sim); /* Eq. 8 */ + compute_inertia_number(sim); /* Eq. 1 */ + compute_shear_velocity(sim); #ifdef DEBUG - /* for (i = 0; i < sim->nz; ++i) { */ - for (i = sim->nz-1; i < sim->nz; ++i) { - printf("\nsim->t = %g s\n", sim->t); - printf("sim->I[%d] = %g\n", i, sim->I[i]); - printf("sim->phi_c[%d] = %g\n", i, sim->phi_c[i]); - printf("sim->tan_psi[%d] = %g\n", i, sim->tan_psi[i]); - printf("sim->mu_c[%d] = %g\n", i, sim->mu_c[i]); - printf("sim->phi[%d] = %g\n", i, sim->phi[i]); - printf("sim->phi_dot[%d] = %g\n", i, sim->phi_dot[i]); - printf("sim->k[%d] = %g\n", i, sim->k[i]); - printf("sim->mu[%d] = %g\n", i, sim->mu[i]); - } + /* for (i = 0; i < sim->nz; ++i) { */ + for (i = sim->nz - 1; i < sim->nz; ++i) { + printf("\nsim->t = %g s\n", sim->t); + printf("sim->I[%d] = %g\n", i, sim->I[i]); + printf("sim->phi_c[%d] = %g\n", i, sim->phi_c[i]); + printf("sim->tan_psi[%d] = %g\n", i, sim->tan_psi[i]); + printf("sim->mu_c[%d] = %g\n", i, sim->mu_c[i]); + printf("sim->phi[%d] = %g\n", i, sim->phi[i]); + printf("sim->phi_dot[%d] = %g\n", i, sim->phi_dot[i]); + printf("sim->k[%d] = %g\n", i, sim->k[i]); + printf("sim->mu[%d] = %g\n", i, sim->mu[i]); + } #endif - /* stable porosity change field == coupled solution converged */ - if (sim->transient) { - for (i = 0; i < sim->nz; ++i) - sim->g_r_norm[i] = fabs(residual(sim->phi_dot[i], sim->old_val[i])); - r_norm_max = max_with_threshold(sim->g_r_norm, sim->nz, rel_tol); - if (r_norm_max <= rel_tol && coupled_iter > 0) - break; - if (coupled_iter++ >= max_iter) { - fprintf(stderr, "coupled_shear_solver: "); - fprintf(stderr, "Transient solution did not converge " - "after %d iterations\n", coupled_iter); - fprintf(stderr, ".. Residual normalized error: %g\n", - r_norm_max); - return 1; - } - } - - } while (sim->transient); - if (!isnan(sim->v_x_limit) || !isnan(sim->v_x_fix)) { - if (!isnan(sim->v_x_limit)) { - double v_ref = fmax(fabs(sim->v_x_limit), fabs(sim->v_x[sim->nz - 1])) + 1e-12; - vel_res_norm = (sim->v_x_limit - sim->v_x[sim->nz - 1]) / v_ref; - if (vel_res_norm > 0.0) - vel_res_norm = 0.0; - } else { - vel_res_norm = (sim->v_x_fix - sim->v_x[sim->nz - 1]) - / (sim->v_x[sim->nz - 1] + 1e-12); - } - sim->mu_wall *= 1.0 + (vel_res_norm * 1e-3); - } - if (++stress_iter > max_iter) { - fprintf(stderr, "error: stress solution did not converge:\n"); - fprintf(stderr, "v_x=%g, v_x_fix=%g, v_x_limit=%g, " - "vel_res_norm=%g, mu_wall=%g\n", - sim->v_x[sim->nz - 1], sim->v_x_fix, sim->v_x_limit, - vel_res_norm, sim->mu_wall); - return 10; - } - } while ((!isnan(sim->v_x_fix) || !isnan(sim->v_x_limit)) - && fabs(vel_res_norm) > RTOL_VELOCITY); - - if (!isnan(sim->v_x_limit)) - sim->mu_wall = mu_wall_orig; - - temporal_increment(sim); - - g_stats.coupled_iters += coupled_iter; - g_stats.stress_iters += stress_iter; - g_stats.timesteps++; - - return 0; -} - -double -find_flux(const struct simulation *sim) -{ - int i; - double flux = 0.0; - - for (i = 1; i < sim->nz; ++i) - flux += (sim->v_x[i] + sim->v_x[i - 1]) / 2.0 * sim->dz; - - return flux; -} - -void -set_coupled_fluid_transient_timestep(struct simulation *sim, const double safety) -{ - double max_gamma_dot, mu, xi, max_I, dt; - - /* max expected strain rate */ - max_gamma_dot = 1.0/sim->d; - if (!isnan(sim->v_x_fix)) - max_gamma_dot = sim->v_x_fix / sim->dz; - if (!isnan(sim->v_x_limit)) - max_gamma_dot = sim->v_x_limit / sim->dz; - - /* estimate for shear friction */ - mu = (sim->mu_wall / ((sim->sigma_n[sim->nz-1] - sim->p_f_mod_ampl) - / (sim->P_wall - sim->p_f_top))) - + sim->dilatancy_constant * sim->phi[sim->nz-1]; - - /* estimate for cooperativity length */ - xi = cooperativity_length(sim->A, - sim->d, - mu, - (sim->sigma_n[sim->nz - 1] - sim->p_f_mod_ampl), - sim->mu_s, - sim->C); - - /* max expected inertia number */ - max_I = inertia_number(max_gamma_dot, - sim->d, - sim->sigma_n[sim->nz - 1] - sim->p_f_mod_ampl, - sim->rho_s); - - dt = xi * (sim->alpha + sim->phi[sim->nz - 1] * sim->beta_f) * sim->mu_f - / (sim->phi[sim->nz - 1] * sim->phi[sim->nz - 1] - * sim->phi[sim->nz - 1] * sim->L_z * max_I); - - if (sim->dt > safety * dt) - sim->dt = safety * dt; -} - -void -print_solver_stats(FILE *fp) -{ - fprintf(fp, "solver_stats: timesteps=%ld poisson_iters=%ld " - "darcy_iters=%ld coupled_iters=%ld stress_iters=%ld\n", - g_stats.timesteps, g_stats.poisson_iters, - g_stats.darcy_iters, g_stats.coupled_iters, g_stats.stress_iters); -} - -void -reset_solver_stats(void) -{ - g_stats.poisson_iters = 0; - g_stats.darcy_iters = 0; - g_stats.coupled_iters = 0; - g_stats.stress_iters = 0; - g_stats.timesteps = 0; -} - -void -add_darcy_iters(int iters) -{ - g_stats.darcy_iters += iters; -} + /* stable porosity change field == coupled solution converged */ + if (sim->transient) { + for (i = 0; i < sim->nz; ++i) + sim->g_r_norm[i] = fabs(residual(sim->phi_dot[i], sim->old_val[i])); + r_norm_max = max_with_threshold(sim->g_r_norm, sim->nz, rel_tol); + if (r_norm_max <= rel_tol && coupled_iter > 0) + break; + if (coupled_iter++ >= max_iter) { + fprintf(stderr, "coupled_shear_solver: "); + fprintf(stderr, + "Transient solution did not converge " + "after %d iterations\n", + coupled_iter); + fprintf(stderr, ".. Residual normalized error: %g\n", r_norm_max); + return 1; + } + } + + } while (sim->transient); + if (!isnan(sim->v_x_limit) || !isnan(sim->v_x_fix)) { + if (!isnan(sim->v_x_limit)) { + double v_ref = + fmax(fabs(sim->v_x_limit), fabs(sim->v_x[sim->nz - 1])) + 1e-12; + vel_res_norm = (sim->v_x_limit - sim->v_x[sim->nz - 1]) / v_ref; + if (vel_res_norm > 0.0) + vel_res_norm = 0.0; + } else { + vel_res_norm = (sim->v_x_fix - sim->v_x[sim->nz - 1]) / + (sim->v_x[sim->nz - 1] + 1e-12); + } + sim->mu_wall *= 1.0 + (vel_res_norm * 1e-3); + } + if (++stress_iter > max_iter) { + fprintf(stderr, "error: stress solution did not converge:\n"); + fprintf(stderr, + "v_x=%g, v_x_fix=%g, v_x_limit=%g, " + "vel_res_norm=%g, mu_wall=%g\n", + sim->v_x[sim->nz - 1], sim->v_x_fix, sim->v_x_limit, vel_res_norm, + sim->mu_wall); + return 10; + } + } while ((!isnan(sim->v_x_fix) || !isnan(sim->v_x_limit)) && + fabs(vel_res_norm) > RTOL_VELOCITY); + + if (!isnan(sim->v_x_limit)) + sim->mu_wall = mu_wall_orig; + + temporal_increment(sim); + + g_stats.coupled_iters += coupled_iter; + g_stats.stress_iters += stress_iter; + g_stats.timesteps++; + + return 0; +} + +double find_flux(const struct simulation *sim) { + int i; + double flux = 0.0; + + for (i = 1; i < sim->nz; ++i) + flux += (sim->v_x[i] + sim->v_x[i - 1]) / 2.0 * sim->dz; + + return flux; +} + +void set_coupled_fluid_transient_timestep(struct simulation *sim, + const double safety) { + double max_gamma_dot, mu, xi, max_I, dt; + + /* max expected strain rate */ + max_gamma_dot = 1.0 / sim->d; + if (!isnan(sim->v_x_fix)) + max_gamma_dot = sim->v_x_fix / sim->dz; + if (!isnan(sim->v_x_limit)) + max_gamma_dot = sim->v_x_limit / sim->dz; + + /* estimate for shear friction */ + mu = (sim->mu_wall / ((sim->sigma_n[sim->nz - 1] - sim->p_f_mod_ampl) / + (sim->P_wall - sim->p_f_top))) + + sim->dilatancy_constant * sim->phi[sim->nz - 1]; + + /* estimate for cooperativity length */ + xi = cooperativity_length(sim->A, sim->d, mu, + (sim->sigma_n[sim->nz - 1] - sim->p_f_mod_ampl), + sim->mu_s, sim->C); + + /* max expected inertia number */ + max_I = + inertia_number(max_gamma_dot, sim->d, + sim->sigma_n[sim->nz - 1] - sim->p_f_mod_ampl, sim->rho_s); + + dt = xi * (sim->alpha + sim->phi[sim->nz - 1] * sim->beta_f) * sim->mu_f / + (sim->phi[sim->nz - 1] * sim->phi[sim->nz - 1] * sim->phi[sim->nz - 1] * + sim->L_z * max_I); + + if (sim->dt > safety * dt) + sim->dt = safety * dt; +} + +void print_solver_stats(FILE *fp) { + fprintf(fp, + "solver_stats: timesteps=%ld poisson_iters=%ld " + "darcy_iters=%ld coupled_iters=%ld stress_iters=%ld\n", + g_stats.timesteps, g_stats.poisson_iters, g_stats.darcy_iters, + g_stats.coupled_iters, g_stats.stress_iters); +} + +void reset_solver_stats(void) { + g_stats.poisson_iters = 0; + g_stats.darcy_iters = 0; + g_stats.coupled_iters = 0; + g_stats.stress_iters = 0; + g_stats.timesteps = 0; +} + +void add_darcy_iters(int iters) { g_stats.darcy_iters += iters; } diff --git a/test/cngf_pf_dry.std b/test/cngf_pf_dry.std @@ -1,16 +1,16 @@ -0.029999999999999999 0 51668.995000000003 0 0.34837139758572822 0.0093076583694836745 0.25 8.351646287696338e-05 18000.000000000004 0 -0.072666666666666657 0.00096669986163802689 50852.803 0 0.35396278942578641 0.022657028007141259 0.25 0.00020492368586865807 18000 0.00096669986163802689 -0.11533333333333333 0.0028713286926148494 50036.611000000004 0 0.35973659367138194 0.044639738226019285 0.25 0.00040702807028684669 18000 0.0028713286926148494 -0.158 0.0063548121891653844 49220.419000000002 0 0.36570188482141935 0.081644144450403189 0.25 0.00075058357154636219 18000 0.0063548121891653844 -0.20066666666666666 0.012435769034653672 48404.226999999999 0 0.37186834943154862 0.14252242606613175 0.25 0.0013212598174027481 18000 0.012435769034653672 -0.24333333333333332 0.022617752027537338 47588.035000000003 0 0.37824633860170948 0.238640226395711 0.25 0.002231215054325397 18000.000000000004 0.022617752027537338 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0.45655018253764035 1.9550463161377736 0.25 0.020082220149086623 18000.000000000004 0.68621939491980821 diff --git a/test/cngf_pf_dry_cohesive.std b/test/cngf_pf_dry_cohesive.std @@ -1,16 +1,16 @@ -0.029999999999999999 0 51668.995000000003 0 0.34837139758572822 0.00037373213306014769 0.25 3.3534520260199061e-06 18000.000000000004 0 -0.072666666666666657 4.1045908289280442e-05 50852.803 0 0.35396278942578641 0.00096201347553001061 0.25 8.7010241236755153e-06 18000 4.1045908289280442e-05 -0.11533333333333333 0.00012869539821918518 50036.611000000004 0 0.35973659367138194 0.0020542849202321426 0.25 1.8731105067593962e-05 18000 0.00012869539821918518 -0.158 0.00030522060807961155 49220.419000000002 0 0.36570188482141935 0.0041373096061037441 0.25 3.8035754329312288e-05 18000 0.00030522060807961155 -0.20066666666666666 0.00064847246241979005 48404.226999999999 0 0.37186834943154862 0.0080449653360979353 0.25 7.4581171008498089e-05 18000 0.00064847246241979005 -0.24333333333333332 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+0.11634256365427523 diff --git a/test/shear_flux_wet.std b/test/shear_flux_wet.std @@ -1 +1 @@ -0.14196436718697067 +0.14196514790350107