An Introduction To Automatic Mesh Generation Algorithms

SAND2016-9194C
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An Introduction to Automatic
Mesh Generation Algorithms
Short Course, September 26, 2016
Washington, DC
Steven Owen
Sandia National Laboratories
Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin
Corporation, for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-AC04-94AL85000. SAND NO. 2011-XXXXP
1
Agenda
Part I 8:00-9:30AM Part II 10:00-11:30AM
 The Simulation Process  Tet vs. Hex Meshing
 Geometry Basics  Structured vs. Unstructured
 Mesh Representations  Structured Hex Methods
 Mesh Generation Methods  Unstructured Hex Methods
 Tet/Tri Meshing Methods  Hex Dual Representations
 Surface Meshing Basics  Overlay Grid
 Smoothing  Automatic Block
Decomposition
 Hybrid Methods
2
Classical References
J. F. Thompson, B. K. Soni, and N. P. Weatherill, eds.,
Handbook of Grid Generation, CRC Press, 1998.
Block-structured grids:
• Transfinite-interpolation, Elliptic and hyperbolic PDE
systems, Harmonic mappings, ...
• Unstructured grids: Quadtrees and Octrees methods,
• Advancing-front methods, Delaunay-Voronoi methods,
• Anisotropic Grid generation, ...
P. J. Frey and P.-L. George, Mesh Generation - Application to

Finite Elements, Hermes Science Publishing, Oxford, UK, 1st
ed., 2000, 2nd ed. 2008.
• A comprehensive survey of Tetrahedral mesh generation
methods: Quadtree-octree methods, Advancing-front methods,
Delaunay-based methods, ...
3
Simulation Process
3 2 kN
1. Build CAD Model 2. Mesh 3. Apply Loads and

Boundary Conditions
4. Computational Analysis
5. Visualization
4
Adaptive Simulation Process
User
supplies meshing
parameters
2
3 2 kN
1. Build CAD Model 2. Mesh 3. Apply Loads and Boundary Conditions
Adaptivity Loop
Error? Analysis Code

Error >  supplies meshing
parameters
6. Remesh/Refine/Improve
4. Computational Analysis 5. Error Estimation
Error < 
7. Visualization
5
Geometry
vertices: x,y,z
location
6
Geometry
curves: bounded by
vertices: x,y,z two vertices
location
7
Geometry
curves: bounded by surfaces: closed

vertices: x,y,z two vertices set of curves
location
8
Geometry
curves: bounded by surfaces: closed

vertices: x,y,z two vertices set of curves
location
volumes: closed set

of surfaces
9
Geometry
Manifold Geometry:
Each volume maintains
Surface 11
its own set of unique
Volume 1
surfaces
Volume 2
Volume 2
Surface 7
Surface 8 Surface 9 Surface 10 Surface 11
Volume 1
Surface 1 Surface 2 Surface 3 Surface 4 Surface 5 Surface 6 Surface 7
10
Geometry
Non-Manifold
Geometry: Volumes
share matching surfaces
Volume 1
Volume 2
Volume 2
Surface 7
Surface 8 Surface 9 Surface 10
Volume 1
Surface 1 Surface 2 Surface 3 Surface 4 Surface 5 Surface 6 Surface 7
11
Geometry
Mesh Generation Algorithm
Geometry Engine
12
Geometry
Triangle Hex
Delaunay
Paving Advancing Sweeping
Tet Mesher
Front Tool
Geometry Engine
13
Geometry
Triangle Hex
Delaunay
Geometry Query Paving Advancing Sweeping
Front
Tet Mesher
Tool
Topology Query
Curve::project_to() Surface::curves()
Surface::project_to() Curve::vertices()
Surface::normal_at() Volume::surfaces()
Surface::curvature_at() Vertex::curves()
Geometry Engine
14
Geometry
Triangle Hex
Delaunay
Front
Tet Mesher
Tool
Topology Query
ACIS, OpenCascade, Catia, Facets, …
15
Geometry
Triangle Hex
Delaunay
Front
Tet Mesher
Tool
Topology Query
CAD Abstraction
Open
ACIS Catia Facets
Cascade
16
Mesh Representation
mass quadrilateral
beam
triangle
0D 1D 2D
tetrahedra
wedge
hexahedra pyramid
3D
17
Mesh Representation
Node-Element Virtual Edges Cyclic Connectivity Doubley-Linked
Connectivity Only and/or Faces Connectivity
Node Node Node Node
Edge Edge Edge
Face Face Face
Element Element Element Element
Slower Speed Faster
Low memory Memory Usage High memory
18
Mesh Representation
Geometry Associativity
Vertex Node
Boundary Conditions applied to
geometric entities.
Delete/Modify mesh defined on

geometric entity
Curve Edge List
Operations on mesh entities
require conformity to geometry
Surface Face List
Volume Element List
19
Mesh Generation Methods
Nodes
mesh projected to
surfaces geometry
mesh
vertices
curves
Geometry First Mesh First
20
21
• AKA. Bottom-up Meshing • AKA. Overlay Grid
• Advancing Front • Octree Methods
• Delaunay Methods • Grid-based Methods
• Boundary constrained • No Boundary constraints
• Dimension n mesh is input for dimension • Boundary nodes placed based on
n+1 intersection and/or projection
• Incremental Workflow • All-in-one Workflow
• One entity at a time • All geometry at once
• Neighbors conform • Neighbors will not conform
• More control over mesh quality and • Less control over mesh quality and
element placement element placement
• Boundary layers • Orientation of initial mesh w.r.t. geometry
• Directionality effects final mesh
• Structured meshing requires special • No special case topologies for hex
case topologies meshing
• Pave-sweep • No special case decompositions needed
• Block-structured
• Manual/Automated decomposition required
22
Mesh Generation Process
Apply Manual Verify/correct for

Mesh Mesh
Sizing, Match sizing criteria on
Vertices Curves
Intervals curves
For each surface

Set up sizing
Mesh Smooth/Cleanup Verify
function for
surface surface mesh Quality
surface
For each volume

Set up sizing
Mesh Smooth/Cleanup Verify
function for
volume volume mesh Quality
volume
Geometry-First Mesh Generation

23
Mesh Generation Process
Initialize Modify mesh to
overlay meet local size
mesh requirements
Match Match Match Match

nodes to edges to tris/quads tets/hexes
vertices curves to surfaces to volumes
Remove
Smoothing/
exterior
Cleanup
mesh
Mesh-First Mesh Generation

24
Tri/Tet
Methods
Octree
Advancing Front
Delaunay http://www.simulog.fr/mesh/gener2.htm
http://www.ansys.com
25
Tet Meshing Software
A Representative Sample
Commercial
• Tetmesh-GHS3D, INRIA, Rocquencourt, Distene France.
• MeshSim, SCOREC, RPI, Simmetrix Inc. USA.
• SolidMesh, AFLR mesh generator, SimCenter, Mississippi State Uni.,
(Altair Hypermesh)
Open Source
• Netgen, TU Vienna.
• Gmsh, Uni. Liege & Uni. Catholique de Louvain.
• GRUMMP, University of British Columbia.
• Pyramid, UC Berkeley.
• CGALmesh, INRIA, Sophia-Antipolis.
• TetGen, Weierstrass Institute, Berlin.
26
Octree/Quadtree
•Define intial bounding box (root of quadtree)

•Recursively break into 4 leaves per root to resolve geometry
•Find intersections of leaves with geometry boundary
•Mesh each leaf using corners, side nodes and intersections with geometry
•Delete Outside
•(Yerry and Shephard, 84), (Shepherd and Georges, 91)
27
Octree/Quadtree
QMG,
Cornell University
28
Octree/Quadtree
QMG,
Cornell University
29
Advancing Front
A B
•Begin with boundary mesh - define as initial front
•For each edge (face) on front, locate ideal node C based on front AB
30
Advancing Front
C D
r
A B
•Determine if any other nodes on current front are within search

radius r of ideal location C (Choose D instead of C)
31
Advancing Front
•Book-Keeping: New front edges added and deleted from front as

triangles are formed
•Continue until no front edges remain on front
32
Advancing Front

33
Advancing Front

34
Advancing Front

35
Advancing Front
r
C
A
B
•Where multiple choices are available, use best quality (closest
shape to equilateral)
•Reject any that would intersect existing front
•Reject any inverted triangles (|AB X AC| > 0)
•(Lohner,88;96)(Lo,91)
36
Advancing Front
37
Advancing Front
38
Advancing Front
39
Advancing Front
r
D
40
Advancing Front
r
D
41
Advancing Front
B D
42
Advancing Front
C
D
43
Advancing Front
Ansys, Inc.
www.ansys.com
44
Delaunay
Triangle
Jonathon Shewchuk
http://www-2.cs.cmu.edu/~quake/triangle.html
Tetmesh-GHS3D
INRIA, France
http://www.simulog.fr/tetmesh/
45
Delaunay
circumcircle
Empty Circle Property:

No other vertex is contained within the circumcircle of
any triangle
46
Delaunay
Computing the Circumcircle center and radius
Ax  By  C  x 2  y 2  x1 , y1 
 x3 , y3 
 x1 y1 1  A  x12  y12 
x   
y2 1  B    x22  y22 
  xc , yc 
 2  r
 x3 y3 1 C   x32  y32 
A B
xc  , yc  , r  C  xc2  yc2
2 2  x2 , y 2 
47
47
Delaunay
Delaunay Triangulation:
Obeys empty-circle (sphere) property
48
Delaunay
49
Delaunay
50
Delaunay
Vornoi cell
51
Delaunay
Voronoi Diagram
Dual of a Delaunay Triangulation
52
Delaunay
circumsphere
Empty Sphere Property:

No other vertex is contained within the circumsphere of
any tetrahedron
53
Delaunay
circumsphere
Empty Sphere Property:

No other vertex is contained within the circumsphere of
any tetrahedron
54
Delaunay
Given a Delaunay
Triangulation of n nodes, How
do I insert node n+1 ?
X
Lawson Algorithm
•Locate triangle containing X
•Subdivide triangle
•Recursively check adjoining
triangles to ensure empty-circle
property. Swap diagonal if
needed
•(Lawson,77)
55
Delaunay
Lawson Algorithm
•Locate triangle containing X
•Subdivide triangle
•Recursively check adjoining
triangles to ensure empty-circle
property. Swap diagonal if
needed
•(Lawson,77)
56
Delaunay
Bowyer-Watson Algorithm
•Locate triangle that contains
the point
•Search for all triangles whose
X circumcircle contain the point
d (d<r)
r •Delete the triangles (creating
c a void in the mesh)
•Form new triangles from the
new point and the void
boundary
•(Watson,81)
Given a Delaunay
57
Delaunay
Bowyer-Watson Algorithm
•Locate triangle that contains
the point
•Search for all triangles whose
X circumcircle contain the point
(d<r)
•Delete the triangles (creating
a void in the mesh)
•Form new triangles from the
new point and the void
boundary
•(Watson,81)
Given a Delaunay
58
Delaunay
59
Delaunay
insert point
X
60
Delaunay
cavity
insert point
X
61
Delaunay
filled cavity
insert point
X
62
Delaunay
•Begin with Bounding Triangles (or Tetrahedra)
63
Delaunay
•Insert boundary nodes using Delaunay method

(Lawson or Bowyer-Watson)
64
Delaunay

65
Delaunay

66
Delaunay

67
Delaunay

68
Delaunay
•Recover boundary
•Delete outside triangles
•Insert internal nodes
69
Delaunay
Node Insertion Methods
Grid Based
•Nodes introduced based on a regular lattice
•Lattice could be rectangular, triangular, quadtree, etc…
•Outside nodes ignored
70
Delaunay
Grid Based
•Nodes introduced based on a regular lattice
•Lattice could be rectangular, triangular, quadtree, etc…
•Outside nodes ignored
71
Delaunay
Circumcenter (“Guaranteed Quality”)

•Nodes introduced at triangle circumcenters
•Order of insertion based on minimum angle of any triangle
•Continues until minimum angle > predefined minimum (  30 )
(Chew,Ruppert,Shewchuk)
72
Delaunay
Circumcenter (“Guaranteed Quality”)

•Nodes introduced at triangle circumcenters
•Order of insertion based on minimum angle of any triangle
•Continues until minimum angle > predefined minimum (  30 )
(Chew,Ruppert,Shewchuk)
73
Delaunay
A B
Advancing Front
•“Front” structure maintained throughout
•Nodes introduced at ideal location from current front edge
(Marcum,95)
74
Delaunay
Advancing Front
•“Front” structure maintained throughout
•Nodes introduced at ideal location from current front edge
(Marcum,95)
75
Delaunay
Edges
•Nodes introduced along existing edges at l=h
•Check to ensure nodes on nearby edges are not too close
(George,91)
76
Delaunay
Edges
•Nodes introduced at along existing edges at l=h
•Check to ensure nodes on nearby edges are not too close
(George,91)
77
Delaunay
Boundary Constrained
Boundary Intersection
•Nodes and edges introduced where Delaunay edges
intersect boundary
78
Delaunay
Boundary Intersection
•Nodes and edges introduced where Delaunay edges
intersect boundary
79
Delaunay
Local Swapping
•Edges swapped between adjacent pairs of triangles until
boundary is maintained
80
Delaunay
Local Swapping
81
Delaunay
Local Swapping
82
Delaunay
Local Swapping
83
Delaunay
Local Swapping
(George,91)(Owen,99)
84
Delaunay
D C
VS
Local Swapping Example

•Recover edge CD at vector Vs
85
Delaunay
E3
D C
E5 E4
E8 E2
E6 E1
E7

•Make a list (queue) of all edges Ei, that intersect Vs
86
Delaunay
E3 E1
D C
E5 E4
E8 E2
E6
E7

•Swap the diagonal of adjacent triangle pairs for each
edge in the list
87
Delaunay
E3
D C
E5 E4
E8
E6 E2
E7

•Check that resulting swaps do not cause overlapping
triangles. If they do, then place edge at the back of the
queue and try again later
88
Delaunay
E3
D C
E5 E4
E8
E6
E7

•Check that resulting swaps do not cause overlapping
triangles. If they do, then place edge at the back of the
queue and try again later
89
Delaunay
D C
E6
Does not maintain

Delaunay criterion!

•Final swap will recover the desired edge.
•Resulting triangle quality may be poor if multiple
swaps were necessary
90
Delaunay
Edge Recovery
DE = edge to be recovered
B •Force edges into triangulation by
performing 2-3 swap transformation
D E
C ABC = non-conforming face
A
3D Local Swapping
•Requires both boundary edge recovery and boundary
face recovery
(George,91;99)(Owen,00)
91
Delaunay
Edge Recovery
DE = edge to be recovered
D E
2-3 Swap
ABCE
ACBD C ABC = non-conforming face
A
3D Local Swapping
face recovery
92
Delaunay
Edge Recovery
DE = edge recovered
D E
2-3 Swap
BAED
ABCE
CBED
ACBD C
ACED
A
3D Local Swapping
face recovery
93
Delaunay
Edge Recovery
DE = edge recovered
D E
2-3 Swap
BAED
ABCE
CBED
ACBD C
ECED
A
3D Local Swapping
face recovery
94
Delaunay
Edge AB to be recovered
Exploded view of tets

intersected by AB
3D Edge Recovery
•Form queue of faces through which edge AB will pass
•Perform 2-3 swap transformations on all faces in the list
•If overlapping tets result, place back on queue and try again later
•If still cannot recover edge, then insert “steiner” point
95
Delaunay
2-3 Swap 2-2 Swap Face Split Edge Split Edge Suppress
abce, acbd aceb, adcb abce, acbd abnini+1 {i=1…N} abnini+1 {i=1…N}
abde, bcde, cade adeb, edcb abfe, bcfe, cafe abnini+1, nm,knm.jnm.ia,
bafd, cbfd, acfd cbnini+1 {i=1…N} nm,knm.jnm.ib {m=1…M}
N = no. adj. tets at edge ab M = no. unique trias in
polygon P={n1,n2,n3}
96
Surface Meshing
Direct 3D Meshing Parametric Space Meshing
•Elements formed in 3D using •Elements formed in 2D using parametric

actual x-y-z representation of representation of surface
surface •Node locations later mapped to 3D
97
Surface Meshing
3D Surface Advancing Front

•form triangle from front edge AB
98
Surface Meshing
NC Tangent plane
A
C

•Define tangent plane at front by
averaging normals at A and B
99
Surface Meshing
NC
A
C
D B

•define D to create ideal triangle on
tangent plane
100
Surface Meshing
NC
A
C

•project D to surface (find closest
point on surface)
101
Surface Meshing

•Must determine overlapping or intersecting
triangles in 3D. (Floating point robustness
issues)
•Extensive use of geometry evaluators (for
normals and projections)
•Typically slower than parametric
implementations
•Generally higher quality elements
•Avoids problems with poor parametric
representations (typical in many CAD
environments)
•(Lo,96;97); (Cass,96)
102
Surface Meshing
Parametric Space Mesh Generation

•Parameterization of the NURBS provided by the CAD model can be used to
reduce the mesh generation to 2D
103
Surface Meshing

•Isotropic: Target element shapes are
equilateral triangles
•Equilateral elements in parametric
space may be distorted when mapped to v
3D space.
•If parametric space resembles 3D space u
without too much distortion from u-v
space to x-y-z space, then isotropic
methods can be used.
v
104
Surface Meshing

•Parametric space can be “customized” or warped so that isotropic methods can be used.
•Works well for many cases.
•In general, isotropic mesh generation does not work well for parametric meshing
u
v
u
Warped parametric space
105
Surface Meshing

•Anisotropic: Triangles are stretched based on a
specified vector field
•Triangles appear stretched in 2d
v
(parametric space), but are near equilateral
in 3D
u
106
Surface Meshing

•Stretching is based on field of surface derivatives
  u  u u   v v v 
u   , ,  v   , , 
  x y z   x y z 
•Metric, M can be defined at every location on  u u u 
v
surface. Metric at location X is:  , , 
 v v v   x y z 
u  x , y , z 
E F   
M (X)   
F G y
x
z
E  u  u F  u  v G  v  v
107
Surface Meshing

•Distances in parametric space can now be measured as a function of direction and
location on the surface. Distance from point X to Q is defined as:
l ( XQ)  XQT M ( X) XQ
v Q
M(X)
X Q u X l ( XQ)
l ( XQ)
v y
x
z
u
108
Surface Meshing

•Use essentially the same isotropic methods for 2D mesh generation, except distances
and angles are now measured with respect to the local metric tensor M(X).
•Can use Delaunay (George, 99) or Advancing Front Methods (Tristano,98)
109
Surface Meshing

•Is generally faster than 3D methods
•Is generally more robust (No 3D
intersection calculations)
•Poor parameterization can cause
problems
•Not possible if no parameterization is
provided
•Can generate your own
parametric space (Flatten 3D
surface into 2D) (Marcum, 99)
(Sheffer,00)
110
Smoothing
P4
P3
P
P5
P2
P1
(Field, 1988)
Laplacian
111
Smoothing
P4 Centroid of
attached nodes
P3
P
P5
P2 n
 Pi
P1
P  i 1
(Field, 1988) n
Laplacian
112
Smoothing
Centroid of
P4 attached nodes
Can create
inverted elements
P
P5
P1
P3
n
 Pi
P6 P  i 1
P2 n
Laplacian
113
Smoothing
Centroid of
P4 attached nodes
Can create
inverted elements
P5
P1
P3
P
n
 Pi
P6 P  i 1
P2 n
Laplacian
114
Smoothing
Centroid of
P4 attached nodes
Can create
inverted elements
P
Constrained Laplacian: Do not
P5 move node unless minimum
P1 distortion metric is improved
P3
n
 Pi
P6 P  i 1
P2 n
Laplacian
115
Smoothing
Smoothing Procedure
LET iter=0
SET all NODE v to active
REPEAT (main smoothing loop)
FOR EACH NODE v DO:
1. If v has been deactivated from smooth, then CONINUE.
2. distance moved = move_node(v)
3. If distance moved < move tolerance, then
deactivate v
Else,
Allow move.
If neighbor node to v is inactive, then activate it.
END DO
iter++;
UNTIL all nodes are deactivated OR iter > MAX_ITER (end of main smoothing loop)
116
Smoothing
Optimization- min Compute shape
Based y  metric i for each

quad at P
 min
Method
P x Choose min to
 optimize

Steepest descent
optimization Compute gradient
 vector g=gmin by
y perturbing small 
in x and y
x
(Canann, Tristano,
  i   min 
Staten, 1998) Pnew  P  g   min  
 g  g  g  g i 
117
Smoothing
Compute shape
Optimization- 
min

metric i for each
Based y quad at P

Method min
x  Choose min to
optimize

Steepest descent
in x and y
x
(Canann, Tristano,
  i   min 
 g  g  g  g i 
118
Smoothing
Compute shape
Optimization-
 metric i for each
Based quad at P
 min
Method y
Choose min to
 min
 optimize
 x
Steepest descent
in x and y
x
(Canann, Tristano,
  i   min 
 g  g  g  g i 
119
Smoothing
Triangle Distortion Metric
C
NS = Surface normal
area ( ABC )
 ( ABC )  ( I ) 3 2 2 2
l1  l2  l3
l2
1 for CA  CB   N S  0
I
l3 1 for CA  CB   N S  0
B C
C
C
l1 B
A
A B B A
(Canann, Tristano, Staten, 1998) A
=1 =0 =-1
120
Smoothing
C
Quad Distortion Metric
D
Compute four triangle metrics
 (ABC )  (CDA)
 (BCD )  (DAB )
B Order metrics in descending order
1   2   3   4
A  3 4

1 2
(Lee, Lo, 1994)
121
Smoothing
Combined Laplacian and Optimization
Based Smoothing
Compute initial distortion metrics for all elements
LET iter=0
SET all NODE v to active
REPEAT (main smoothing loop)
FOR EACH NODE v DO:
1. If v has been deactivated from smooth, then CONINUE.
2. If v wasn’t moved by optimization-based smoothing in last iteration, then
distance_moved = move_node_laplacian(v)
3. If (iter >= 2) then
distance_moved = move_node_optimize(v)
4. If distance_moved < move_tolerance AND min > min_allowable_metric, then
deactivate v
Else,
Allow move, and update adjacent distortion metrics to v.
If neighbor node to v is inactive, then activate it.
END DO
iter++;
UNTIL all nodes are deactivated OR iter > MAX_ITER (end of main smoothing loop)
(Canann, Tristano, Staten, 1998)

(Freitag, 1997)
122

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An Introduction To Automatic Mesh Generation Algorithms

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SAND2016-9194C

Photos placed in horizontal position

P. J. Frey and P.-L. George, Mesh Generation - Application to

1. Build CAD Model 2. Mesh 3. Apply Loads and

1. Build CAD Model 2. Mesh 3. Apply Loads and Boundary Conditions

Error? Analysis Code

curves: bounded by surfaces: closed

curves: bounded by surfaces: closed

volumes: closed set

Surface 1 Surface 2 Surface 3 Surface 4 Surface 5 Surface 6 Surface 7

Surface 1 Surface 2 Surface 3 Surface 4 Surface 5 Surface 6 Surface 7

Mesh Generation Algorithm

ACIS, OpenCascade, Catia, Facets, …

Node Node Node Node

Edge Edge Edge

Face Face Face

Element Element Element Element

Slower Speed Faster

Low memory Memory Usage High memory

Delete/Modify mesh defined on

Surface Face List

Volume Element List

Geometry First Mesh First

Geometry First Mesh First

Geometry First Mesh First

Apply Manual Verify/correct for

For each surface

For each volume

Geometry-First Mesh Generation

Match Match Match Match

Mesh-First Mesh Generation

•Define intial bounding box (root of quadtree)

•Determine if any other nodes on current front are within search

•Book-Keeping: New front edges added and deleted from front as

•Book-Keeping: New front edges added and deleted from front as

•Book-Keeping: New front edges added and deleted from front as

•Book-Keeping: New front edges added and deleted from front as

Empty Circle Property:

Computing the Circumcircle center and radius

Empty Sphere Property:

Empty Sphere Property:

•Begin with Bounding Triangles (or Tetrahedra)

•Insert boundary nodes using Delaunay method

•Insert boundary nodes using Delaunay method

•Insert boundary nodes using Delaunay method

•Insert boundary nodes using Delaunay method

•Insert boundary nodes using Delaunay method

Circumcenter (“Guaranteed Quality”)

Circumcenter (“Guaranteed Quality”)

Local Swapping Example

Local Swapping Example

Local Swapping Example

Local Swapping Example

Local Swapping Example

Does not maintain

Local Swapping Example

C ABC = non-conforming face