Materials Today: Proceedings 42 (2021) 330–342

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Materials Today: Proceedings

journal homepage: www.elsevier.com/locate/matpr

MATLAB automated higher-order tetrahedral mesh generator for CAD

geometries and a finite element application with the subparametric
mappings
T.V. Smitha ⇑,1, K.V. Nagaraja 1
Department of Mathematics, R V Institute of Technology and Management, Bengaluru 560078, India
Amrita Vishwa Vidyapeetham, India

a r t i c l e i n f o a b s t r a c t

Article history: In this article MATLAB code is proposed for three-dimensional CAD geometries to produce automatic
Available online 5 November 2020 higher-order (HO) tetrahedral mesh. The HO mesh generator HOtetramesh proposed here is based up
on a MATLAB PDE toolbox mesh generator function generateMesh. The input for this code is identical with
Keywords: that for input for the PDE toolbox mesh generator and the tetrahedral element with the necessary order.
Subparametric mappings An HO tetrahedral mesh is generated as the output with the node coordinates, connectivity matrix,
HO tetrahedral elements boundary edges and boundary nodes. The proposed mesh generator could be used efficiently to produce
Mesh generation
high-quality meshes in 3D finite element applications. A numerical example is provided with the com-
Finite element method
CAD geometries
plete detail for the demonstration of the proposed automated HO tetrahedral mesh generator over a
3D geometry by the subparametric finite element approach. This methodology can be used easily and
reliably to address several problems in science and engineering.
Ó 2020 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the Second International
Conference on Recent Advances in Materials and Manufacturing 2020.

1. Introduction HO meshing by geometry reconstruction approach [2]. Hence, the

Computer aided design (CAD) geometries are extensively used
by engineers and designers for numerous applications, including
car, shipbuilding, aviation enterprises, mechanical engineering,
industrial designs, prosthetics etc. Programming for creating HO
meshes is not readily available, because efficient algorithms are
still being developed for HO meshes. Moreover, since HO tech-
niques are not yet available, programming organizations are not
inspired to give the level of help to high-order meshing that they
accommodate lower-order (up to quadratic-order) meshing. Also,
HO functionality is not available with any open source software
except for Gmsh [1] and MeshCurve [2]. After all, due to limited
CAD features in Gmsh, it can not take in complex models though
it is a helpful tool. MeshCurve tool is developed in C++ program-
ming languages for CAD free geometries from lower to curved
⇑ Corresponding author at: Department of Mathematics, R V Institute of
Technology and Management, Bengaluru 560078, India.
E-mail addresses: tvsmithasubeesh@gmail.com (T.V. Smitha), kv_nagaraja@blr.
amrita.edu (K.V. Nagaraja).
1
Affliated to Visvesvaraya Technological University, Belagavi, Karnataka, India.
openly accessible mesh generation tools utilize diverse methodolo-
gies, however, HO tetrahedral (from at least cubic-order) mesh
generation program is not accessible for MATLAB users especially
using subparametric mappings. The generation of HO tetrahedral
meshes with subparametric approach is only briefly explained
without providing the MATLAB code for biomaterial applications
in [3]. The efficiency of HO mesh generations for finite element
analysis with the subparametric approach are demonstrated in
several fields as given in [3–6].
Our goal is to propose and provide here, an HO tetrahedron
automated mesh generator function HOtetramesh in MATLAB for
CAD geometries established on PDE toolbox mesh generator func-
tion generateMesh and the nodal relations obtained utilizing the
subparametric mapping, that can be used in FE applications effec-
tively. The mesh generator HOtetramesh is designed to generate 3D
unstructured HO tetrahedral mesh up to quartic order for regular
geometries utilizing regular (i.e. without curved sides) HO tetrahe-
dral elements. Also, our objective is to demonstrate the application
of this mesh generator for HO finite element method (FEM) with
subparametric approach.

https://doi.org/10.1016/j.matpr.2020.09.546
2214-7853/Ó 2020 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the Second International Conference on Recent Advances in Materials and Manufacturing 2020.
T.V. Smitha and K.V. Nagaraja
In this paper, the MATLAB function Gen_LagSF3D code devel-
oped for the automated 3D Lagrange interpolation function gener-
ation for any order is provided and depicted in Section 2. The
MATLAB fragments for the proposed mesh generator HOtetramesh
with the cubic case is detailed in Section 3 along with the code.
Other HO tetrahedral elements generated from mesh are similarly
achieved. A numerical illustration demonstrating the use of the
created mesh is given in Section 4 with a detailed explanation
for the implementation of the HO computational technique by
FEM for the Poisson equation. So that, the users can effectively
use the proposed mesh generation and edit the codes as per their
requirements. The work is concluded in Section 5.
2. Automatic generation of 3D Lagrange interpolation functions
Interpolation functions in FEM, are utilized to express the vari-
ations inside an element of field variable using its nodal values as
pursues:
ðnþ1Þðnþ2Þðnþ3Þ
X 6
Nk ðn; g; fÞuek :
ðnÞ
u¼ ð1Þ
k¼1
In this, u represents field variable inside the element at any
ðnÞ
point, uek represent the nodal values of u; N k represents interpola-
tion functions which are assigned as shape functions of tetrahedral
element at the node k of polynomial order n. The Lagrange shape
functions for three-dimensional elements are indicated by
N i ðx; y; zÞ or N i ðn; g; fÞ and are defined as
Ni ðn; g; fÞ ¼ Li ðnÞLi ðgÞLi ðfÞ:
The standard tetrahedral element is shown on the right side of
Fig. 1. The node distribution over the volume of a cubic and quartic
order tetrahedral element in the natural n  g  f or Cartesian
x  y  z plane is exhibited in Fig. 2.
An automated generation of Lagrange shape functions Gen_-
LagSF3d is created in MATLAB. The code Gen_LagSF3d.m provided
in the Appendix A in Listing 1 produces and show for each tetrahe-
dral element, the Lagrange coefficients as well as shape functions
of any order.
3. Explanation of the MATLAB code with higher-order
tetrahedral elements for CAD geometries
HO mesh generation is a challenge for MATLAB users in 3D
geometries. Cubic-order automatic mesh generator is given in this
section for any CAD geometry utilizing the subparametric map-
pings is proposed. Any CAD geometry can be easily converted to
STL files by utilizing various freely available tools like 3D Trans-
form, 3D CAD data to MATLAB Converter developed by Don Riley
[7], free online CAD converters etc.
Here, we first input the required geometry as an STL file. Then,
we create a complete PDE model object utilizing MATLAB function
createpde. Next, we create a geometry container from the predeter-
mined STL geometry document utilizing the MATLAB function im-
portGeometry. Then, the preliminary mesh used here is most
prominent MATLAB PDE toolbox mesh generator function gener-
ateMesh provided in [8]. Alongside the concept of point mapping
for HO tetrahedral elements created in [4], an HO automated mesh
generator HOtetramesh is proposed in MATLAB for three-
dimensional FEM. Thereafter, we incorporate our proposed auto-
mated HO code to develop HO meshes for any CAD geometry.
Thus, the goal in this work is to create a simple HO ðn ¼ 3; 4Þ
unstructured mesh generator. The proposed mesh generator HOte-
tramesh will work for any CAD geometry. Here, the explanation for
the code fragment in MATLAB is provided for the CAD geometries
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Materials Today: Proceedings 42 (2021) 330–342
only for the cubic order ðn ¼ 3Þ tetrahedral elements. Hence, the
order ðnÞ of the tetrahedral element is chosen as 3, as the cubic-
order finite elements are utilized. A similar strategy can be pursued
for all other HO tetrahedral elements.
The MATLAB code lines from 3 to 17 given in the Appendix A in
Listing 2 can produce different preliminary meshes with element
size hmax utilizing the MATLAB mesh generator generateMesh for
the provided CAD geometries as STL file as described in [8]. Then,
in the MATLAB code lines from 19 to 32 given in the Appendix A
in Listing 2, explicit variable declarations and memory allocation
have been performed for the cubic case.
The subparametric mapping formula used for creating the HO
tetrahedral mesh is:
tðn; g; fÞ ¼ t 1 þ ðt2  t1 Þn þ ðt3  t1 Þg þ ðt 4  t 1 Þf; ðt ¼ x; y; zÞ: ð2Þ
For the cubic tetrahedral element, 20 nodes per tetrahedron are
required and therefore, 2 nodes are added to each tetrahedron
edge. Additional nodes are equally spaced along the straight sided
edge.
The nodes t 17 ; t18 ; and t 19 for the regular face of the tetrahedron
are determined by the following relations:
t17 ¼ 16 ð2t1 þ t 2 þ 3t 8 Þ;
t18 ¼ 16 ð2t1 þ t 4 þ 3t 13 Þ; ð3Þ
t19 ¼ 16 ð2t1 þ t 3 þ 3t 16 Þ; ðt ¼ x; y; zÞ:
The interior node t 20 of the curved face of the tetrahedron is
determined by the following relation:
1
t 20 ¼
12
½ð2Þðt 2 þ t3 þ t 4 Þ þ 3ðt 7 þ t 8 þ t 13 þ t 14 þ t 15 þ t16 Þ; ðt ¼ x; y; zÞ:
ð4Þ
The MATLAB function HOtetramesh code lines from 34 to 189,
provided in the Appendix A in Listing 2 is a loop that creates addi-
tional equally spaced nodes on every edge, on every face and fur-
thermore the interior (volume) nodes utilizing Eqs. (2)–(4) of the
unstructured cubic ordered tetrahedral element generated in the
geometry by ensuring the absence of duplicate nodes. The specific
derivation of Eqs. (2)–(4) are given in [4]. It ought to be noticed
that the introduction of the nodes is in the anticlockwise way fol-
lowing the sequence as specified in Section 2.
Thereafter, the MATLAB routine from code line 191 to 208 given
in the Appendix A in Listing 2 identifies and extracts the boundary
face of each tetrahedron. Then computes all the boundary nodes of
the 3D geometry under consideration.
Then, the loop from code lines 210 to 214 of the MATLAB rou-
tine given in the Appendix A in Listing 2 displays all the computed
nodes with node numbers and the nodes as  for all the generated
tetrahedral elements.
The outputs needed for the FE applications like the total num-
ber of nodes (N), coordinates of each node (p), the total number
of elements (T), element connectivity matrix (t) and boundary
nodes (b) can be formatted and obtained as given in the Appendix
A in Listing 2 from code lines 215 to 218.
In this manner, the developed MATLAB fragment HOtetramesh
creates unstructured cubic order tetrahedral mesh for any geome-
try. In a comparable manner, HO tetrahedral mesh are produced till
quartic order for any geometry. To call the function HOtetramesh,
the syntax is:
½N; p; t; b ¼ HOtetrameshðnÞ:
The input argument of HOtetramesh is the order n of the tetra-
hedral element used.
Here, n ¼ 1 creates linear tetrahedral mesh, n ¼ 2 creates quad-
ratic tetrahedral mesh, n ¼ 3 creates cubic tetrahedral mesh, and
n ¼ 4 creates quartic tetrahedral mesh. The meshing function out-
puts are as given below:
T.V. Smitha and K.V. Nagaraja
Fig. 1. 4-node tetrahedron element mapped to the tetrahedron master element.
Fig. 2. Node ordering of cubic-order and quartic-order tetrahedral elements.
(i) N: gives the total number of nodes in the geometry.
(ii) p: this N  3 array facilitates node coordinates x; y; z for
every one of the N nodes.
(iii) t: gives the connectivity matrix having each row associated
with nth order tetrahedron by ðn þ 1Þðn þ 2Þðn þ 3Þ=6 integer
entries to specify node number in that tetrahedron with
node ordering as appeared in Fig. 2.
(iv) b: gives the boundary nodes.
A similar methodology can be reached out to create for other
HO tetrahedral mesh. It ought to be noticed that, HOtetramesh
creates HO tetrahedral mesh, actually, for any CAD geometry.
Yet, this works best for the regular geometry as straight-edged
tetrahedral elements are utilized. Few outcomes from the pro-
posed automated HO mesh generation for CAD geometries are pre-
sented in Figs. 3–8.
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Materials Today: Proceedings 42 (2021) 330–342
4. Numerical example
In this section, we provide the detailed solution procedure for
the Poisson equation over a 3D geometry by the subparametric
finite element approach using the created automated HO tetrahe-
dral mesh generator. The Poisson equation appears in the form of
Eq. (5) in many physical problems as in Heat Transfer, Electrostat-
ics, Magnetostatics, solar cells [9] etc.
r:ðaðx; y; zÞruðx; y; zÞÞ ¼ f ðx; y; zÞ ð5Þ
where aðx; y; zÞ is the material property, f ðx; y; zÞ is the source
term and the unknown uðx; y; zÞ to be resolved.
The following steps outline the subparametric FEM procedure
for solving a Poisson equation:
(i) Produce a HO tetrahedral mesh over the geometry utilizing
HOtetramesh for the regular geometry.
T.V. Smitha and K.V. Nagaraja Materials Today: Proceedings 42 (2021) 330–342

Fig. 3. HO tetrahedral meshes for a bracket with a hole geometry.

Fig. 4. HO tetrahedral meshes for a Square plate with a hole geometry.

Z Z Z  
(ii) Next, the element geometry is expressed in terms of the @N i @N j @Ni @Nj @Ni @Nj
K i; j ¼ þ þ dxdydz
Lagrange interpolation functions. At that point, utilize the Galerkin Xe @x @x @y @y @z @z
weighted residual finite element procedure to get the following
¼ K i;x; jx þ K i;y; jy þ K i;z; jz ; ð6bÞ
finite element equation:
½KMM  fU gM1 ¼ fF gM1 ð6aÞ Xe represents the region of an element and for
ði; j ¼ 1; 2; 3; . . . ; MÞ K i;x; jx ; K i;y; jy and K i;z; jz can be calculated as
where
follows:

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T.V. Smitha and K.V. Nagaraja Materials Today: Proceedings 42 (2021) 330–342

Fig. 5. HO tetrahedral meshes for a bracket with two holes geometry.

Fig. 6. HO tetrahedral meshes for a hook geometry.

R 1 R 1n R 1ng 1@Ni  @y @z     
K i;x;jx ¼ n¼0 g¼0 f¼0 J @n @ g @f
 @y @z
@f @ g
þ @N i @y @z
@ g @f @n
 @y @z
@n @f
þ @N i @y @z
@f @n @ g
 @@yg @n
@z where the Jacobian J is computed as follows:
      
@N @N @N
 @nj @@yg @z @f
 @y @z
@f @ g
þ @gj @y @z
@f @n
 @y @z
@n @f
þ @fj @y @z
@n @ g
 @@yg @n
@z
dfdgdn;
R 1 R 1n R 1ng 1@Ni @x @z @x @z @Ni @x @z @x @z @Ni  @x @z @x @z  J @ðx; y; zÞ
¼ @ðn;
i; j
K y; y ¼ n¼0 g¼0 f¼0  @ g @f þ @g @n @f  @f @n þ @f @g @n  @n @g g; fÞ
   
J @n @f @ g
  
   
@N
 @nj @x @z
 @x @z
þ
@Nj @x @z
 @x @z @N
þ @fj @@xg @n
@z
 @x @z
dfdgdn; ¼ @n @ g @f  @y
@x @y @z @z
@f @ g
 @y @x
@n @ g
@z
@f
 @x
@f
@z
@g ð6dÞ
@f @ g @ g @f @ g @n @f @f @n @n @ g
R 1 R 1n R 1ng 1@Ni  @x @y @x @y @Ni @x @y @x @y @Ni @x @y @x @y  
@z @x @y @y
i; j
K z; z ¼ n¼0 g¼0 f¼0 J @n @ g @f
 @f @ g þ @g @f @n  @n @f þ @f @n @ g  @g @n þ @n @ g @f
 @x
@f @ g
;
      
@Nj @x @y @N @N @x @y
 @n @g @f  @x @y
@f @ g
þ @gj @x @y
@f @n
 @x @y
@n @f
þ @fj @n @g
 @@xg @y
@n
dfdgdn

and
ð6cÞ

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T.V. Smitha and K.V. Nagaraja Materials Today: Proceedings 42 (2021) 330–342

Fig. 7. HO tetrahedral meshes for a one side curved rectangular plate with four holes geometry.

Fig. 8. HO tetrahedral meshes for a tetrahedron geometry.

8
>
< 10; for quadratic tetrahedron element (v) The boundary conditions are imposed.
M ¼ 20; for cubic tetrahedron element ð6eÞ (vi) Next, obtain the solutions of the Poisson equation from the
>
: reduced system of algebraic equations written in Matrix form.
35; for quartic tetrahedron element:
(vii) At all the nodes, get the estimations of the field variable
U; U ¼ K 1 F.
RRR
Fi ¼ f ðx; y; zÞN i dxdydz (viii) Process the precision of the outcomes acquired by the uti-
Xe
R1 R 1n R 1ng lization of subparametric mappings by computing the minimum
¼ n¼0 g¼0 f¼0 Jf ðxðn; g; fÞ; yðn; g; fÞ; zðn; g; fÞÞNi ðn; g; fÞdfdgdn:
and maximum percent errors as follows:
ð6fÞ  
u  U 
percent error ¼    100 ð7Þ
u 
(iii) For each element, compute utilizing Eqs. (6b)–(6f) the ele-
ment matrices components K i; j and F i utilizing the Gauss Legendre
– Gauss Jacobi quadrature rules over a tetrahedral region [10]. where u is the known exact solution and U is the best computed
(iv) Assemble the matrix K and the vector F for the Poisson FEM solution.
equation, KU ¼ Futilizing a piecewise HO FE algorithm from each The flowchart in Fig. 9 provides a brief description of the differ-
of the tetrahedral elements. ent steps associated with solving a Poisson equation utilizing HO
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Fig. 9. Schematic flowchart on subparametric FEM to solve a Poisson equation using HO tetrahedral elements over any 3D geometry.

336
T.V. Smitha and K.V. Nagaraja
Fig. 10. Percent error analysis at the common nodes by the subparametric FEM process of the Poisson equation Eqs. (8)–(9).
Table 1
The L2 norm error analysis of FEM over a unit cube geometry utilizing up to cubic-order tetrahedral elements.
Polynomial Gauss Legendre quadrature points L2 Norm
Linear 1 point 3.34352978e03
Quadratic 2 point 4.55890290e04
Cubic 3 point 5.61832576e04
tetrahedral elements over any 3D geometry. The proficiency and
exactness of HO FEM are very well proved in the works of [4–
6,11] utilizing subparametric mapping. However, the development
of HO automated 3D mesh generator especially for MATLAB user is
still a major bottleneck for various applications. To exhibit the
appropriateness of the proposed mesh generator for the subpara-
metric technique on HO FEM and to validate the proposed mesh
generator we provide here a numerical example. We have devel-
oped an in–house MATLAB code to solve the 3D Poisson equation
by the created automated mesh generator utilizing up to cubic-
order elements. A numerical example over a unit cube is consid-
ered by the above-mentioned procedure to approve the proposed
3D automated mesh generator in MATLAB. We assume here that
aðx; yÞ ¼ 1in Eq. (5) for the example administered in this section.
Example:
We solve the following Poisson equation Eqs. (8), (9) by utiliz-
ing HO FEM in MATLAB by taking up to cubic-order elements as
per the procedure explained in the flowchart provided in Fig. 9.
r2 ðuÞ ¼ 2xyðx  1Þðy  1Þ  2yzðy  1Þðz  1Þ  2xzðx  1Þðz  1Þ; in X ¼ ð0;1Þ3 ;
ð8Þ
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Materials Today: Proceedings 42 (2021) 330–342
Normalized CPU time Degrees of freedom No. of elements
75.63 3375 16464
2.7 2197 1296
1 1000 162
u ¼ 0; on the boundary: ð9Þ
The exact solution of Eq. (8) satisfying Eq. (9) is
uðx; y; zÞ ¼ xyzðx  1Þðy  1Þðz  1Þ.
We then compare the exact solution with the computed FEM
solution with by calculating the percent error at common nodal
points for the linear to cubic ordered elements as presented in the
Fig. 10 for a discretization of the geometry by 384 elements. The
CPU time of every test case normalized by the CPU time of the fastest
test case by L2 norm of ðu  UÞ for achieving similar accuracy for all
the considered order are shown in Table 1 for this example.
It is visible from the Table 1 that cubic-order elements deliver
the most precise approximation to the exact solution as far as
the L2 norm by a minimum number of elements, degrees of free-
dom and computational time contrasted with the lower-order ele-
ments. Additionally, it is obvious from the Fig. 10 that, the percent
error is diminished by the utilization of HO components. In this
manner, the proficiency and exactness of HO elements are appar-
ent from the Fig. 10.
Thus, the proposed mesh generation can be utilized for solving
the Poisson equation productively. Along these lines, the solutions
with the coveted exactness can be accomplished effortlessly by
T.V. Smitha and K.V. Nagaraja Materials Today: Proceedings 42 (2021) 330–342

using HO elements by this methodology. So in a similar manner,
this methodology can be connected and extended to tackle any
PDE emerging in energy problems to get the most accurate solution
as demonstrated in [6] for 2D energy applications.
5. Conclusions
For 3D problems, the process of HO mesh generation contin-
ues to be a real bottleneck for large-scale computations in engi-
neering and scientific applications. In this paper, we have
proposed 3D HO tetrahedral mesh generator especially for FE
applications utilizing the subparametric mappings. The proposed
mesh generation codes HOtetramesh is simple and offers efficient
HO mesh generators for MATLAB users. It is broadly perceived
that the HO elements beat the low-order elements. Likewise, it
is remarkable that the computational time, the degrees of free-
dom and the quantity of elements might be definitely dimin-
ished by methods for the use of HO elements in FEM. We
have additionally given the total clarification to the created
automated mesh generation MATLAB codes for CAD geometries
for one HO case in detail so the users can utilize it straightfor-
wardly or with the reasonable revision in their required applica-
tion area. It is obvious that growing the request of the shape
functions by parabolic arcs is more great than expanding the
quantity of elements for upgrading the numerical solutions of
PDEs. The users can use and adapt the proposed mesh genera-
tion to their requirements. We have demonstrated the applica-
bility of the proposed mesh generation in detail for solving the
Poisson equation utilizing the subparamteric HO FEM. The exact-
ness and effectiveness of the HO elements differentiated by the
lower order elements are clear from the numerical outcomes.
These simple and exceptional meshes can be effectively used
for several science and engineering applications.
CRediT authorship contribution statement
T.V. Smitha: Conceptualization, Software, Writing - original
draft, Data curation, Visualization. K.V. Nagaraja: Methodology,
Supervision, Validation, Writing - review & editing.
Declaration of Competing Interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared
to influence the work reported in this paper.

Appendix A. MATLAB codes

The accompanying MATLAB function Gen_LagSF3d.m provided in Listing 1 generates and displays the generalized Lagrange coefficients
and shape functions for tetrahedral element of any order:

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The accompanying line of MATLAB code can produce cubic-order tetrahedral elements for the provided CAD geomtery as STL file.

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