Hall of fame: https://cgl.ethz.ch/teaching/simulation19/fame.php

• All important hyper-parameters are in GuiData.h, most of them can be tweaked in the UI.

Additional Shortcuts:

• f - select fluid field
• g - pressure field
• h - temperature field
• F or v - select fluid brush
• H or n - temperature brush
• Crl+Click to use other brush
• 1-3 - brush texture

• 2D PIC/FLIP fluid simulation
• Implicit viscosity solving to allow for high viscosities in real-time based on [2] and [5]
• Adaptive timestep (CLF Condition)
• Pressure solving via Gauss-Seidel
  • Ghost pressure at air/fluid boundary
  • Fixed iteration count (more efficient than residual computation)
• Enforce normal dirichlet boundary conditions
• Smart particle reseeding based on [6]
  • Add a particle to cell if less than 3
  • Remove particles if more than 12 in cell
  • Only add particles to non-boundary cells and cells with low velocity (0.5 * dx)
• Implicit temperature solver based on [1]
  • Create a symmetric positive definite matrix and solve it using the conjugate gradient method
  • This matrix and its solver can be precomputed once, see FluidDomain::buildTemperatureMatrix
  • Link fluid and temperature simulations by making particles transport some of the temperature, see FluidSolver::transferTemperatureGridToParticles
    • Efficiently tuned by GuiData::m_particleTemperatureTransfer
    • Works best when slightly below the average particles per grid cell (1/8 by default)
• Viscosity based on temperature by clamped inverse square, can be easily changed in FluidSolver::updateViscosity
  • We used this behavior to make the liquid stay solid until a certain temperature
• Interaction, click to add particles or temperature
  • Use an image as a brush (based on ascii art export from gimp)
• Works for non-square grids

Probably the most interesting function is FluidSolver::stepPICFLIP which gives an overview of a single step.

Note: scaling the grid size by 2x the area means more than 2x slowdown -> performance does not scale linearly.

• Used Eigen to store grid/position data
  • This gave a small speedup relative to ArrayT, possibly because of vectorization/alignment done by Eigen
• Main performance bottleneck are the Eigen solvers as well as the Gauss-Seidel pressure solver in FluidSolver::solvePoissonCorrectVelocity
• If the solver becomes instable, often with larger grid sizes, the iterations for the pressure solver need to be increased. Can be set in the UI.
• Eigen has been setup to run on all cores, all our solvers are Eigen::ConjugateGradient with the correct parameters to utilize this parallelism according to https://eigen.tuxfamily.org/dox/TopicMultiThreading.html
  • A potential to improve performance even more would be to use an adaptive domain based on min/max particle positions with some padding. However, in most of our scenarios most of the grid is used and this alternate method would incur more overhead.
• We also implemented a way of changing the floating point precision (doubleT), however, this has little effect on the frame rate
• Particle advection is done with openmp to make this completely negligible

Below is a profile in CLion for a ~15s high viscosity simulation with a 128x64 grid (using CMake Release mode and g++ 7.4.0 on a i9-9980HK)

note: libgomp.so is related to eigen parallelisation through opemp

[1] https://www.cc.gatech.edu/~turk/my_papers/melt.pdf
[2] https://cs.uwaterloo.ca/~c2batty/papers/BattyBridson08.pdf
[3] https://www.cs.ubc.ca/~rbridson/fluidsimulation/fluids_notes.pdf
[4] https://github.com/kbladin/Fluid_Simulation
[5] https://github.com/rlguy/FLIPViscosity3D
[6] https://pdfs.semanticscholar.org/a1bb/ba8ad75b4ffdaebfe56ce1aec35414247d14.pdf