Last Time?

•  Implicit Surfaces
Navier-Stokes •  Marching Cubes/Tetras
•  Collision Detection & Response
& •  Conservative Bounding Regions
Flow Simulation
backtracking

fixing

Today Flow Simulations in Graphics

•  Flow Simulations in Computer Graphics •  Random velocity fields
–  water, smoke, viscous fluids –  with averaging to get simple background motion
•  Navier-Stokes Equations •  Shallow water equations
–  incompressibility, conservation of mass –  height field only, can’t represent crashing waves, etc.
–  conservation of momentum & energy •  Full Navier-Stokes
•  Fluid Representations
•  Basic Algorithm •  note: typically we ignore surface tension and
•  Data Representation focus on macroscopic behavior

Flow in a Voxel Grid Navier-Stokes Equations

•  conservation of mass: •  conservation of momentum:
gravity (& other external forces)
pressure viscosity

Image from acceleration Convection: internal movement drag

Foster & Mataxas, 1996 in a fluid (e.g., caused by variation
in density due to a transfer of heat)

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Today Modeling the Water Surface
•  Flow Simulations in Computer Graphics •  Volume-of-fluid tracking
•  Navier-Stokes Equations –  a scalar saying how
“full” each cell is
•  Fluid Representations
•  Particle In Cell (PIC)
•  Basic Algorithm
–  the particles have mass
•  Data Representation
•  Marker and Cell (MAC)
–  the particles don’t effect
computation, just identify
which cells the surface passes through
–  Harlow & Welch, "Numerical calculation of time-dependent
viscous incompressible flow of fluid with free surface”,
The Physics of Fluids, 1965.

Comparing Representations Demos

•  How do we render the resulting surface? •  Nice Marker
•  Are we guaranteed not to lose mass/volume? and Cell (MAC)
(is the simulation incompressible?) videos at:
•  How is each affected by the grid resolution http://panoramix.ift.uni.wroc.pl/~maq/eng/cfdthesis.php
and timestep?
•  Can we guarantee stability?

http://mme.uwaterloo.ca/~fslien/free_surface/free_surface.htm

Reading for Today Today

•  “Realistic Animation of Liquids”, •  Flow Simulations in Computer Graphics
Foster & Metaxas, 1996 •  Navier-Stokes Equations
•  Fluid Representations
•  Basic Algorithm
•  Data Representation

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Each Grid Cell Stores: Initialization
•  Velocity at the cell faces (offset grid) •  Choose a voxel resolution
•  Pressure •  Choose a particle density
•  List of particles •  Create grid & place the particles
•  Initialize pressure & velocity of each cell
•  Set the viscosity & gravity
•  Choose a timestep & go!
Image from
Foster & Mataxas, 1996

At each Timestep: Empty, Surface & Full Cells

•  Identify which cells are Empty,
Full, or on the Surface
•  Compute new velocities
•  Adjust the velocities to maintain
an incompressible flow
•  Move the particles
–  Interpolate the velocities at the faces
•  Render the geometry and repeat!
Images from
Foster & Mataxas, 1996

At each Timestep: Compute New Velocities

•  Identify which cells are Empty,
Full, or on the Surface
•  Compute new velocities
•  Adjust the velocities to maintain
an incompressible flow
•  Move the particles
–  Interpolate the velocities at the faces
•  Render the geometry and repeat!
Note: some of these values are the average velocity
within the cell rather than the velocity at a cell face

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At each Timestep: Adjusting the Velocities
•  Identify which cells are Empty, •  Calculate the divergence of the cell
Full, or on the Surface (the extra in/out flow)
•  Compute new velocities •  The divergence is used
•  Adjust the velocities to maintain to update the pressure
an incompressible flow within the cell
•  Move the particles •  Adjust each face velocity
–  Interpolate the velocities at the faces uniformly to bring the
•  Render the geometry and repeat! divergence to zero
•  Iterate across the entire Image from
Foster & Mataxas, 1996
grid until divergence is < ε

Handing Boundaries with MAC At each Timestep:

•  Identify which cells are Empty,
Full, or on the Surface
•  Compute new velocities
•  Adjust the velocities to maintain
an incompressible flow
•  Move the particles
–  Interpolate the velocities at the faces
•  Render the geometry and repeat!

Velocity Interpolation Stable Fluids

•  “Stable Fluids”,
Jos Stam,
SIGGRAPH 1999.

Image from Foster & Mataxas, 1996

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Efficient Smoke Simulation Solid/Liquid: Time-varying viscosity

"Melting and Flowing"

Carlson, Mucha, Van Horn III & Turk
Symposium on Computer Animation 2002

“Visual Simulation of Smoke”

Fedkiw, Stam & Jensen
SIGGRAPH 2001

Ron Fedkiw http://physbam.stanford.edu/~fedkiw/

•  Enright, Marschner, & Fedkiw, “Animation and Rendering of •  Cem Yuksel, Donald H. House, and John Keyser,
Complex Water Surfaces”, SIGGRAPH 2002.
“Wave Particles”, SIGGRAPH 2007
•  Guendelman, Selle, Losasso, & Fedkiw, “Coupling Water and
Smoke to Thin Deformable and Rigid Shells”, SIGGRAPH 2005.

Reading for Tuesday 2/12:

•  “Synthesis of Complex Dynamic Character Motion from
Simple Animation”, Liu & Popović, 2002.

•  Post a comment or question on the LMS

discussion by 10am on Tuesday 2/12