1 // Copyright (c) 2017-2024, Lawrence Livermore National Security, LLC and other CEED contributors. 2 // All Rights Reserved. See the top-level LICENSE and NOTICE files for details. 3 // 4 // SPDX-License-Identifier: BSD-2-Clause 5 // 6 // This file is part of CEED: http://github.com/ceed 7 8 /// @file 9 /// Helper functions for solving the Riemann problem. 10 // The left and right states are specified from the perspective of an outward-facing normal vector pointing left to right: 11 // 12 // (domain) 13 // / (outward facing normal) 14 // |------------| / 15 // | | / 16 // | Left |----> Right 17 // | (Interior) | (Exterior) 18 // |------------| 19 // 20 // The right state is exterior to the domain and the left state is the interior to the domain. 21 // Much of the work references Eleuterio F. Toro's "Riemann Solvers and Numerical Methods for Fluid Dynamics", 2009 22 #include "newtonian_state.h" 23 #include "newtonian_types.h" 24 25 enum RiemannFluxType_ { RIEMANN_HLL, RIEMANN_HLLC }; 26 typedef enum RiemannFluxType_ RiemannFluxType; 27 28 typedef struct { 29 CeedScalar left, right; 30 } RoeWeights; 31 32 CEED_QFUNCTION_HELPER RoeWeights RoeSetup(CeedScalar rho_left, CeedScalar rho_right) { 33 CeedScalar sqrt_left = sqrt(rho_left), sqrt_right = sqrt(rho_right); 34 RoeWeights w = {sqrt_left / (sqrt_left + sqrt_right), sqrt_right / (sqrt_left + sqrt_right)}; 35 return w; 36 } 37 38 CEED_QFUNCTION_HELPER RoeWeights RoeSetup_fwd(CeedScalar rho_left, CeedScalar rho_right, CeedScalar drho_left, CeedScalar drho_right) { 39 CeedScalar sqrt_left = sqrt(rho_left), sqrt_right = sqrt(rho_right); 40 CeedScalar square_sum_root = Square(sqrt_left + sqrt_right); 41 CeedScalar r_right = (sqrt_left / (2 * sqrt_right * square_sum_root)) * drho_right - (sqrt_right / (2 * sqrt_left * square_sum_root)) * drho_left; 42 CeedScalar r_left = (sqrt_right / (2 * sqrt_left * square_sum_root)) * drho_left - (sqrt_left / (2 * sqrt_right * square_sum_root)) * drho_right; 43 RoeWeights dw = {r_left, r_right}; 44 return dw; 45 } 46 47 CEED_QFUNCTION_HELPER CeedScalar RoeAverage(RoeWeights r, CeedScalar q_left, CeedScalar q_right) { return r.left * q_left + r.right * q_right; } 48 49 CEED_QFUNCTION_HELPER CeedScalar RoeAverage_fwd(RoeWeights r, RoeWeights dr, CeedScalar q_left, CeedScalar q_right, CeedScalar dq_left, 50 CeedScalar dq_right) { 51 return q_right * dr.right + q_left * dr.left + r.right * dq_right + r.left * dq_left; 52 } 53 54 CEED_QFUNCTION_HELPER StateConservative Flux_HLL(State left, State right, StateConservative flux_left, StateConservative flux_right, 55 CeedScalar s_left, CeedScalar s_right) { 56 CeedScalar U_left[5], U_right[5], F_right[5], F_left[5], F_hll[5]; 57 UnpackState_U(left.U, U_left); 58 UnpackState_U(right.U, U_right); 59 UnpackState_U(flux_left, F_left); 60 UnpackState_U(flux_right, F_right); 61 for (int i = 0; i < 5; i++) { 62 F_hll[i] = (s_right * F_left[i] - s_left * F_right[i] + s_left * s_right * (U_right[i] - U_left[i])) / (s_right - s_left); 63 } 64 StateConservative F = { 65 F_hll[0], 66 {F_hll[1], F_hll[2], F_hll[3]}, 67 F_hll[4], 68 }; 69 return F; 70 } 71 72 CEED_QFUNCTION_HELPER StateConservative Flux_HLL_fwd(State left, State right, State dleft, State dright, StateConservative flux_left, 73 StateConservative flux_right, StateConservative dflux_left, StateConservative dflux_right, 74 CeedScalar S_l, CeedScalar S_r, CeedScalar dS_l, CeedScalar dS_r) { 75 CeedScalar U_l[5], U_r[5], F_r[5], F_l[5]; 76 UnpackState_U(left.U, U_l); 77 UnpackState_U(right.U, U_r); 78 UnpackState_U(flux_left, F_l); 79 UnpackState_U(flux_right, F_r); 80 81 CeedScalar dU_l[5], dU_r[5], dF_r[5], dF_l[5], dF_hll[5] = {0.}; 82 UnpackState_U(dleft.U, dU_l); 83 UnpackState_U(dright.U, dU_r); 84 UnpackState_U(dflux_left, dF_l); 85 UnpackState_U(dflux_right, dF_r); 86 for (int i = 0; i < 5; i++) { 87 const CeedScalar U_diff = U_r[i] - U_l[i]; 88 const CeedScalar S_diff = S_r - S_l; 89 const CeedScalar F_hll_denom = S_r * F_l[i] - S_l * F_r[i] + S_l * S_r * U_diff; 90 91 dF_hll[i] += ((F_l[i] + S_r * U_diff) * S_diff - F_hll_denom) / Square(S_diff) * dS_r; 92 dF_hll[i] += ((-F_r[i] + S_r * U_diff) * S_diff + F_hll_denom) / Square(S_diff) * dS_l; 93 dF_hll[i] += (S_r * dF_l[i] - S_l * dF_r[i] + S_r * S_l * dU_r[i] - S_r * S_l * dU_l[i]) / S_diff; 94 } 95 StateConservative dF = { 96 dF_hll[0], 97 {dF_hll[1], dF_hll[2], dF_hll[3]}, 98 dF_hll[4], 99 }; 100 return dF; 101 } 102 103 CEED_QFUNCTION_HELPER void ComputeHLLSpeeds_Roe(NewtonianIdealGasContext gas, State left, CeedScalar u_left, State right, CeedScalar u_right, 104 CeedScalar *s_left, CeedScalar *s_right) { 105 const CeedScalar gamma = HeatCapacityRatio(gas); 106 107 RoeWeights r = RoeSetup(left.U.density, right.U.density); 108 // Speed estimate 109 // Roe average eigenvalues for left and right non-linear waves. 110 // Stability requires that these speed estimates are *at least* as fast as the physical wave speeds. 111 CeedScalar u_roe = RoeAverage(r, u_left, u_right); 112 113 // TODO: revisit this for gravity 114 CeedScalar H_left = TotalSpecificEnthalpy(gas, left); 115 CeedScalar H_right = TotalSpecificEnthalpy(gas, right); 116 CeedScalar H_roe = RoeAverage(r, H_left, H_right); 117 CeedScalar a_roe = sqrt((gamma - 1) * (H_roe - 0.5 * Square(u_roe))); 118 119 // Einfeldt (1988) justifies (and Toro's book repeats) that Roe speeds can be used here. 120 *s_left = u_roe - a_roe; 121 *s_right = u_roe + a_roe; 122 } 123 124 CEED_QFUNCTION_HELPER void ComputeHLLSpeeds_Roe_fwd(NewtonianIdealGasContext gas, State left, State dleft, CeedScalar u_left, CeedScalar du_left, 125 State right, State dright, CeedScalar u_right, CeedScalar du_right, CeedScalar *s_left, 126 CeedScalar *ds_left, CeedScalar *s_right, CeedScalar *ds_right) { 127 const CeedScalar gamma = HeatCapacityRatio(gas); 128 129 RoeWeights r = RoeSetup(left.U.density, right.U.density); 130 RoeWeights dr = RoeSetup_fwd(left.U.density, right.U.density, dleft.U.density, dright.U.density); 131 // Speed estimate 132 // Roe average eigenvalues for left and right non-linear waves. 133 // Stability requires that these speed estimates are *at least* as fast as the physical wave speeds. 134 CeedScalar u_roe = RoeAverage(r, u_left, u_right); 135 CeedScalar du_roe = RoeAverage_fwd(r, dr, u_left, u_right, du_left, du_right); 136 137 CeedScalar H_left = TotalSpecificEnthalpy(gas, left); 138 CeedScalar H_right = TotalSpecificEnthalpy(gas, right); 139 CeedScalar dH_left = TotalSpecificEnthalpy_fwd(gas, left, dleft); 140 CeedScalar dH_right = TotalSpecificEnthalpy_fwd(gas, right, dright); 141 142 CeedScalar H_roe = RoeAverage(r, H_left, H_right); 143 CeedScalar dH_roe = RoeAverage_fwd(r, dr, H_left, H_right, dH_left, dH_right); 144 CeedScalar a_roe = sqrt((gamma - 1) * (H_roe - 0.5 * Square(u_roe))); 145 CeedScalar da_roe = 0.5 * (gamma - 1) / sqrt(H_roe) * dH_roe - 0.5 * sqrt(gamma - 1) * u_roe / sqrt(H_roe - 0.5 * Square(u_roe)) * du_roe; 146 147 *s_left = u_roe - a_roe; 148 *ds_left = du_roe - da_roe; 149 *s_right = u_roe + a_roe; 150 *ds_right = du_roe + da_roe; 151 } 152 153 // ***************************************************************************** 154 // @brief Harten Lax VanLeer (HLL) approximate Riemann solver. 155 // Taking in two states (left, right) and returns RiemannFlux_HLL. 156 // The left and right states are specified from the perspective of an outward-facing normal vector pointing left to right. 157 // 158 // @param[in] gas NewtonianIdealGasContext for the fluid 159 // @param[in] left Fluid state of the domain interior (the current solution) 160 // @param[in] right Fluid state of the domain exterior (free stream conditions) 161 // @param[in] normal Normalized, outward facing boundary normal vector 162 // 163 // @return StateConservative with HLL Riemann Flux 164 // ***************************************************************************** 165 CEED_QFUNCTION_HELPER StateConservative RiemannFlux_HLL(NewtonianIdealGasContext gas, State left, State right, const CeedScalar normal[3]) { 166 StateConservative flux_left = FluxInviscidDotNormal(gas, left, normal); 167 StateConservative flux_right = FluxInviscidDotNormal(gas, right, normal); 168 169 CeedScalar u_left = Dot3(left.Y.velocity, normal); 170 CeedScalar u_right = Dot3(right.Y.velocity, normal); 171 172 CeedScalar s_left, s_right; 173 ComputeHLLSpeeds_Roe(gas, left, u_left, right, u_right, &s_left, &s_right); 174 175 // Compute HLL flux 176 if (0 <= s_left) { 177 return flux_left; 178 } else if (s_right <= 0) { 179 return flux_right; 180 } else { 181 return Flux_HLL(left, right, flux_left, flux_right, s_left, s_right); 182 } 183 } 184 185 // ***************************************************************************** 186 // @brief Forward-mode Derivative of Harten Lax VanLeer (HLL) approximate Riemann solver. 187 // 188 // @param gas NewtonianIdealGasContext for the fluid 189 // @param left Fluid state of the domain interior (the current solution) 190 // @param right Fluid state of the domain exterior (free stream conditions) 191 // @param dleft Derivative of fluid state of the domain interior (the current solution) 192 // @param dright Derivative of fluid state of the domain exterior (free stream conditions) 193 // @param normal Normalized, outward facing boundary normal vector 194 // 195 // @return StateConservative with derivative of HLL Riemann Flux 196 // ***************************************************************************** 197 CEED_QFUNCTION_HELPER StateConservative RiemannFlux_HLL_fwd(NewtonianIdealGasContext gas, State left, State dleft, State right, State dright, 198 const CeedScalar normal[3]) { 199 StateConservative flux_left = FluxInviscidDotNormal(gas, left, normal); 200 StateConservative flux_right = FluxInviscidDotNormal(gas, right, normal); 201 StateConservative dflux_left = FluxInviscidDotNormal_fwd(gas, left, dleft, normal); 202 StateConservative dflux_right = FluxInviscidDotNormal_fwd(gas, right, dright, normal); 203 204 CeedScalar u_left = Dot3(left.Y.velocity, normal); 205 CeedScalar u_right = Dot3(right.Y.velocity, normal); 206 CeedScalar du_left = Dot3(dleft.Y.velocity, normal); 207 CeedScalar du_right = Dot3(dright.Y.velocity, normal); 208 209 CeedScalar s_left, ds_left, s_right, ds_right; 210 ComputeHLLSpeeds_Roe_fwd(gas, left, dleft, u_left, du_left, right, dright, u_right, du_right, &s_left, &ds_left, &s_right, &ds_right); 211 212 if (0 <= s_left) { 213 return dflux_left; 214 } else if (s_right <= 0) { 215 return dflux_right; 216 } else { 217 return Flux_HLL_fwd(left, right, dleft, dright, flux_left, flux_right, dflux_left, dflux_right, s_left, s_right, ds_left, ds_right); 218 } 219 } 220 221 CEED_QFUNCTION_HELPER StateConservative RiemannFlux_HLLC_Star(NewtonianIdealGasContext gas, State side, StateConservative F_side, 222 const CeedScalar normal[3], CeedScalar u_side, CeedScalar s_side, CeedScalar s_star) { 223 CeedScalar fact = side.U.density * (s_side - u_side) / (s_side - s_star); 224 CeedScalar denom = side.U.density * (s_side - u_side); 225 // U_* = fact * star 226 StateConservative star = { 227 1.0, 228 { 229 side.Y.velocity[0] + (s_star - u_side) * normal[0], 230 side.Y.velocity[1] + (s_star - u_side) * normal[1], 231 side.Y.velocity[2] + (s_star - u_side) * normal[2], 232 }, 233 side.U.E_total / side.U.density // 234 + (s_star - u_side) * (s_star + side.Y.pressure / denom) 235 }; 236 return StateConservativeAXPBYPCZ(1, F_side, s_side * fact, star, -s_side, side.U); 237 } 238 239 CEED_QFUNCTION_HELPER StateConservative RiemannFlux_HLLC_Star_fwd(NewtonianIdealGasContext gas, State side, State dside, StateConservative F_side, 240 StateConservative dF_side, const CeedScalar normal[3], CeedScalar u_side, 241 CeedScalar du_side, CeedScalar s_side, CeedScalar ds_side, CeedScalar s_star, 242 CeedScalar ds_star) { 243 CeedScalar fact = side.U.density * (s_side - u_side) / (s_side - s_star); 244 CeedScalar dfact = (side.U.density * (ds_side - du_side) + dside.U.density * (s_side - u_side)) / (s_side - s_star) // 245 - fact / (s_side - s_star) * (ds_side - ds_star); 246 CeedScalar denom = side.U.density * (s_side - u_side); 247 CeedScalar ddenom = side.U.density * (ds_side - du_side) + dside.U.density * (s_side - u_side); 248 249 StateConservative star = { 250 1.0, 251 { 252 side.Y.velocity[0] + (s_star - u_side) * normal[0], 253 side.Y.velocity[1] + (s_star - u_side) * normal[1], 254 side.Y.velocity[2] + (s_star - u_side) * normal[2], 255 }, 256 side.U.E_total / side.U.density // 257 + (s_star - u_side) * (s_star + side.Y.pressure / denom) 258 }; 259 StateConservative dstar = { 260 0., 261 { 262 dside.Y.velocity[0] + (ds_star - du_side) * normal[0], 263 dside.Y.velocity[1] + (ds_star - du_side) * normal[1], 264 dside.Y.velocity[2] + (ds_star - du_side) * normal[2], 265 }, 266 dside.U.E_total / side.U.density - side.U.E_total / Square(side.U.density) * dside.U.density // 267 + (ds_star - du_side) * (s_star + side.Y.pressure / denom) // 268 + (s_star - u_side) * (ds_star + dside.Y.pressure / denom - side.Y.pressure / Square(denom) * ddenom) // 269 }; 270 271 const CeedScalar a[] = {1, ds_side * fact + s_side * dfact, s_side * fact, -ds_side, -s_side}; 272 const StateConservative U[] = {dF_side, star, dstar, side.U, dside.U}; 273 return StateConservativeMult(5, a, U); 274 } 275 276 // HLLC Riemann solver (from Toro's book) 277 CEED_QFUNCTION_HELPER StateConservative RiemannFlux_HLLC(NewtonianIdealGasContext gas, State left, State right, const CeedScalar normal[3]) { 278 StateConservative flux_left = FluxInviscidDotNormal(gas, left, normal); 279 StateConservative flux_right = FluxInviscidDotNormal(gas, right, normal); 280 281 CeedScalar u_left = Dot3(left.Y.velocity, normal); 282 CeedScalar u_right = Dot3(right.Y.velocity, normal); 283 CeedScalar s_left, s_right; 284 ComputeHLLSpeeds_Roe(gas, left, u_left, right, u_right, &s_left, &s_right); 285 286 // Contact wave speed; Toro (10.37) 287 CeedScalar rhou_left = left.U.density * u_left, rhou_right = right.U.density * u_right; 288 CeedScalar numer = right.Y.pressure - left.Y.pressure + rhou_left * (s_left - u_left) - rhou_right * (s_right - u_right); 289 CeedScalar denom = left.U.density * (s_left - u_left) - right.U.density * (s_right - u_right); 290 CeedScalar s_star = numer / denom; 291 292 // Compute HLLC flux 293 if (0 <= s_left) { 294 return flux_left; 295 } else if (0 <= s_star) { 296 return RiemannFlux_HLLC_Star(gas, left, flux_left, normal, u_left, s_left, s_star); 297 } else if (0 <= s_right) { 298 return RiemannFlux_HLLC_Star(gas, right, flux_right, normal, u_right, s_right, s_star); 299 } else { 300 return flux_right; 301 } 302 } 303 304 CEED_QFUNCTION_HELPER StateConservative RiemannFlux_HLLC_fwd(NewtonianIdealGasContext gas, State left, State dleft, State right, State dright, 305 const CeedScalar normal[3]) { 306 StateConservative flux_left = FluxInviscidDotNormal(gas, left, normal); 307 StateConservative flux_right = FluxInviscidDotNormal(gas, right, normal); 308 StateConservative dflux_left = FluxInviscidDotNormal_fwd(gas, left, dleft, normal); 309 StateConservative dflux_right = FluxInviscidDotNormal_fwd(gas, right, dright, normal); 310 311 CeedScalar u_left = Dot3(left.Y.velocity, normal); 312 CeedScalar u_right = Dot3(right.Y.velocity, normal); 313 CeedScalar du_left = Dot3(dleft.Y.velocity, normal); 314 CeedScalar du_right = Dot3(dright.Y.velocity, normal); 315 316 CeedScalar s_left, ds_left, s_right, ds_right; 317 ComputeHLLSpeeds_Roe_fwd(gas, left, dleft, u_left, du_left, right, dright, u_right, du_right, &s_left, &ds_left, &s_right, &ds_right); 318 319 // Contact wave speed; Toro (10.37) 320 CeedScalar rhou_left = left.U.density * u_left, drhou_left = left.U.density * du_left + dleft.U.density * u_left; 321 CeedScalar rhou_right = right.U.density * u_right, drhou_right = right.U.density * du_right + dright.U.density * u_right; 322 CeedScalar numer = right.Y.pressure - left.Y.pressure // 323 + rhou_left * (s_left - u_left) // 324 - rhou_right * (s_right - u_right); 325 CeedScalar dnumer = dright.Y.pressure - dleft.Y.pressure // 326 + rhou_left * (ds_left - du_left) + drhou_left * (s_left - u_left) // 327 - rhou_right * (ds_right - du_right) - drhou_right * (s_right - u_right); 328 CeedScalar denom = left.U.density * (s_left - u_left) - right.U.density * (s_right - u_right); 329 CeedScalar ddenom = left.U.density * (ds_left - du_left) + dleft.U.density * (s_left - u_left) // 330 - right.U.density * (ds_right - du_right) - dright.U.density * (s_right - u_right); 331 CeedScalar s_star = numer / denom; 332 CeedScalar ds_star = dnumer / denom - numer / Square(denom) * ddenom; 333 334 // Compute HLLC flux 335 if (0 <= s_left) { 336 return dflux_left; 337 } else if (0 <= s_star) { 338 return RiemannFlux_HLLC_Star_fwd(gas, left, dleft, flux_left, dflux_left, normal, u_left, du_left, s_left, ds_left, s_star, ds_star); 339 } else if (0 <= s_right) { 340 return RiemannFlux_HLLC_Star_fwd(gas, right, dright, flux_right, dflux_right, normal, u_right, du_right, s_right, ds_right, s_star, ds_star); 341 } else { 342 return dflux_right; 343 } 344 } 345