Adding quasi 1d shallow water equations

examples/tree_1d_dgsem/elixir_shallow_water_quasi_1D_manufactured.jl

@@ -0,0 +1,59 @@
+using OrdinaryDiffEq
+using Trixi
+
+###############################################################################
+# Semidiscretization of the shallow water equations
+
+equations = ShallowWaterEquationsQuasi1D(gravity_constant = 9.81)
+
+initial_condition = initial_condition_convergence_test
+
+###############################################################################
+# Get the DG approximation space
+
+volume_flux = (flux_chan_etal, flux_nonconservative_chan_etal)
+surface_flux = (FluxPlusDissipation(flux_chan_etal, DissipationLocalLaxFriedrichs()),
+                flux_nonconservative_chan_etal)
+solver = DGSEM(polydeg = 3, surface_flux = surface_flux,
+               volume_integral = VolumeIntegralFluxDifferencing(volume_flux))
+
+###############################################################################
+# Get the TreeMesh and setup a periodic mesh
+
+coordinates_min = 0.0
+coordinates_max = sqrt(2.0)
+mesh = TreeMesh(coordinates_min, coordinates_max,
+                initial_refinement_level = 3,
+                n_cells_max = 10_000,
+                periodicity = true)
+
+# create the semi discretization object
+semi = SemidiscretizationHyperbolic(mesh, equations, initial_condition, solver,
+                                    source_terms = source_terms_convergence_test)
+
+###############################################################################
+# ODE solvers, callbacks etc.
+
+tspan = (0.0, 1.0)
+ode = semidiscretize(semi, tspan)
+
+summary_callback = SummaryCallback()
+
+analysis_interval = 500
+analysis_callback = AnalysisCallback(semi, interval = analysis_interval)
+
+alive_callback = AliveCallback(analysis_interval = analysis_interval)
+
+save_solution = SaveSolutionCallback(interval = 200,
+                                     save_initial_solution = true,
+                                     save_final_solution = true)
+
+callbacks = CallbackSet(summary_callback, analysis_callback, alive_callback, save_solution)
+
+###############################################################################
+# run the simulation
+
+# use a Runge-Kutta method with automatic (error based) time step size control
+sol = solve(ode, RDPK3SpFSAL49(); abstol = 1.0e-8, reltol = 1.0e-8,
+            ode_default_options()..., callback = callbacks);
+summary_callback() # print the timer summary

src/Trixi.jl

@@ -149,6 +149,7 @@ export AcousticPerturbationEquations2D,
        LatticeBoltzmannEquations2D, LatticeBoltzmannEquations3D,
        ShallowWaterEquations1D, ShallowWaterEquations2D,
        ShallowWaterTwoLayerEquations1D, ShallowWaterTwoLayerEquations2D,
+       ShallowWaterEquationsQuasi1D,
        LinearizedEulerEquations2D
 
 export LaplaceDiffusion1D, LaplaceDiffusion2D,
@@ -164,6 +165,7 @@ export flux, flux_central, flux_lax_friedrichs, flux_hll, flux_hllc, flux_hlle,
        flux_kennedy_gruber, flux_shima_etal, flux_ec,
        flux_fjordholm_etal, flux_nonconservative_fjordholm_etal, flux_es_fjordholm_etal,
        flux_wintermeyer_etal, flux_nonconservative_wintermeyer_etal,
+       flux_chan_etal, flux_nonconservative_chan_etal,
        hydrostatic_reconstruction_audusse_etal, flux_nonconservative_audusse_etal,
 # TODO: TrixiShallowWater: move anything with "chen_noelle" to new file
        hydrostatic_reconstruction_chen_noelle, flux_nonconservative_chen_noelle,

src/equations/equations.jl

@@ -350,6 +350,7 @@ include("shallow_water_1d.jl")
 include("shallow_water_2d.jl")
 include("shallow_water_two_layer_1d.jl")
 include("shallow_water_two_layer_2d.jl")
+include("shallow_water_quasi_1d.jl")
 
 # CompressibleEulerEquations
 abstract type AbstractCompressibleEulerEquations{NDIMS, NVARS} <:

src/equations/shallow_water_quasi_1d.jl

@@ -0,0 +1,296 @@
+# By default, Julia/LLVM does not use fused multiply-add operations (FMAs).
+# Since these FMAs can increase the performance of many numerical algorithms,
+# we need to opt-in explicitly.
+# See https://ranocha.de/blog/Optimizing_EC_Trixi for further details.
+@muladd begin
+#! format: noindent
+
+@doc raw"""
+    ShallowWaterEquationsQuasi1D(; gravity, H0 = 0, threshold_limiter = nothing threshold_wet = nothing)
+
+The quasi-1D shallow water equations (SWE). The equations are given by
+```math
+\begin{aligned}
+  \frac{\partial}{\partial t}(a h) + \frac{\partial}{\partial x}(a h v) &= 0 \\
+    \frac{\partial}{\partial t}(a h v) + \frac{\partial}{\partial x}(a h v^2)
+    + g a h \frac{\partial}{\partial x}(h + b) &= 0
+\end{aligned}
+```
+The unknown quantities of the Quasi-1D SWE are the water height ``h`` and the scaled velocity ``v``.
+The gravitational constant is denoted by `g`, the (possibly) variable bottom topography function ``b(x)``, and (possibly) variable channel width ``a(x)``. The water height ``h`` is measured from the bottom topography ``b``, therefore one also defines the total water height as ``H = h + b``.
+
+The additional quantity ``H_0`` is also available to store a reference value for the total water height that
+is useful to set initial conditions or test the "lake-at-rest" well-balancedness.
+
+Also, there are two thresholds which prevent numerical problems as well as instabilities. Both of them do not
+have to be passed, as default values are defined within the struct. The first one, `threshold_limiter`, is
+used in [`PositivityPreservingLimiterShallowWater`](@ref) on the water height, as a (small) shift on the initial
+condition and cutoff before the next time step. The second one, `threshold_wet`, is applied on the water height to
+define when the flow is "wet" before calculating the numerical flux.
+
+The bottom topography function ``b(x)`` and channel width ``a(x)`` are set inside the initial condition routine
+for a particular problem setup. To test the conservative form of the SWE one can set the bottom topography
+variable `b` to zero and ``a`` to one. 
+
+In addition to the unknowns, Trixi.jl currently stores the bottom topography and channel width values at the approximation points 
+despite being fixed in time. This is done for convenience of computing the bottom topography gradients
+on the fly during the approximation as well as computing auxiliary quantities like the total water height ``H``
+or the entropy variables.
+This affects the implementation and use of these equations in various ways:
+* The flux values corresponding to the bottom topography and channel width must be zero.
+* The bottom topography and channel width values must be included when defining initial conditions, boundary conditions or
+  source terms.
+* [`AnalysisCallback`](@ref) analyzes this variable.
+* Trixi.jl's visualization tools will visualize the bottom topography and channel width by default.
+"""
+struct ShallowWaterEquationsQuasi1D{RealT <: Real} <:
+       AbstractShallowWaterEquations{1, 4}
+    gravity::RealT # gravitational constant
+    H0::RealT      # constant "lake-at-rest" total water height
+    # `threshold_limiter` used in `PositivityPreservingLimiterShallowWater` on water height,
+    # as a (small) shift on the initial condition and cutoff before the next time step.
+    # Default is 500*eps() which in double precision is ≈1e-13.
+    threshold_limiter::RealT
+    # `threshold_wet` applied on water height to define when the flow is "wet"
+    # before calculating the numerical flux.
+    # Default is 5*eps() which in double precision is ≈1e-15.
+    threshold_wet::RealT
+end
+
+# Allow for flexibility to set the gravitational constant within an elixir depending on the
+# application where `gravity_constant=1.0` or `gravity_constant=9.81` are common values.
+# The reference total water height H0 defaults to 0.0 but is used for the "lake-at-rest"
+# well-balancedness test cases.
+# Strict default values for thresholds that performed well in many numerical experiments
+function ShallowWaterEquationsQuasi1D(; gravity_constant, H0 = zero(gravity_constant),
+                                      threshold_limiter = nothing,
+                                      threshold_wet = nothing)
+    T = promote_type(typeof(gravity_constant), typeof(H0))
+    if threshold_limiter === nothing
+        threshold_limiter = 500 * eps(T)
+    end
+    if threshold_wet === nothing
+        threshold_wet = 5 * eps(T)
+    end
+    ShallowWaterEquationsQuasi1D(gravity_constant, H0, threshold_limiter, threshold_wet)
+end
+
+have_nonconservative_terms(::ShallowWaterEquationsQuasi1D) = True()
+function varnames(::typeof(cons2cons), ::ShallowWaterEquationsQuasi1D)
+    ("a_h", "a_h_v", "b", "a")
+end
+# Note, we use the total water height, H = h + b, as the first primitive variable for easier
+# visualization and setting initial conditions
+varnames(::typeof(cons2prim), ::ShallowWaterEquationsQuasi1D) = ("H", "v", "b", "a")
+
+# Set initial conditions at physical location `x` for time `t`
+#need to revise
+"""
+    initial_condition_convergence_test(x, t, equations::ShallowWaterEquationsQuasi1D)
+
+A smooth initial condition used for convergence tests in combination with
+[`source_terms_convergence_test`](@ref)
+(and [`BoundaryConditionDirichlet(initial_condition_convergence_test)`](@ref) in non-periodic domains).
+"""
+function initial_condition_convergence_test(x, t,
+                                            equations::ShallowWaterEquationsQuasi1D)
+    # generates a manufactured solution. 
+    # some constants are chosen such that the function is periodic on the domain [0,sqrt(2)]
+    Omega = sqrt(2) * pi
+    H = 2.0 + 0.5 * sin(Omega * x[1] - t)
+    v = 0.25
+    b = 0.2 - 0.05 * sin(1 * sqrt(2) * pi * x[1])
+    a = 1 + 0.1 * cos(sqrt(2) * pi * x[1])
+    return prim2cons(SVector(H, v, b, a), equations)
+end
+
+"""
+    source_terms_convergence_test(u, x, t, equations::ShallowWaterEquationsQuasi1D)
+
+Source terms used for convergence tests in combination with
+[`initial_condition_convergence_test`](@ref)
+(and [`BoundaryConditionDirichlet(initial_condition_convergence_test)`](@ref) in non-periodic domains).
+
+This manufactured solution source term is specifically designed for the bottom topography function
+`b(x) = 0.2 - 0.05 * sin(sqrt(2) * pi *x[1])` and channel width 'a(x)= 1 + 0.1 * cos(sqrt(2) * pi * x[1])'
+as defined in [`initial_condition_convergence_test`](@ref).
+"""
+@inline function source_terms_convergence_test(u, x, t,
+                                               equations::ShallowWaterEquationsQuasi1D)
+    # Same settings as in `initial_condition_convergence_test`. Some derivative simplify because
+    # this manufactured solution velocity is taken to be constant
+    Omega = sqrt(2) * pi
+    H = 2.0 + 0.5 * sin(Omega * x[1] - t)
+    H_x = 0.5 * cos(Omega * x[1] - t) * Omega
+    H_t = -0.5 * cos(Omega * x[1] - t)
+
+    v = 0.25
+
+    b = 0.2 - 0.05 * sin(sqrt(2) * pi * x[1])
+    b_x = -0.05 * cos(sqrt(2) * pi * x[1]) * sqrt(2) * pi
+
+    a = 1 + 0.1 * cos(sqrt(2) * pi * x[1])
+    a_x = -0.1 * sin(sqrt(2) * pi * x[1]) * sqrt(2) * pi
+
+    du1 = a * H_t + v * (a_x * (H - b) + a * (H_x - b_x))
+    du2 = v * du1 + a * (equations.gravity * (H - b) * H_x)
+
+    return SVector(du1, du2, 0.0, 0.0)
+end
+
+# Calculate 1D flux for a single point
+# Note, the bottom topography and channel width have no flux
+@inline function flux(u, orientation::Integer, equations::ShallowWaterEquationsQuasi1D)
+    a_h, a_h_v, _, a = u
+    h = waterheight(u, equations)
+    v = velocity(u, equations)
+
+    p = 0.5 * a * equations.gravity * h^2
+
+    f1 = a_h_v
+    f2 = a_h_v * v + p
+
+    return SVector(f1, f2, zero(eltype(u)), zero(eltype(u)))
+end
+
+"""
+    flux_nonconservative_chan_etal(u_ll, u_rr, orientation::Integer,
+                                   equations::ShallowWaterEquationsQuasi1D)
+
+Non-symmetric two-point volume flux discretizing the nonconservative (source) term
+that contains the gradient of the bottom topography [`ShallowWaterEquationsQuasi1D`](@ref) 
+and the channel width.
+
+Further details are available in the paper:
+- Jesse Chan, Khemraj Shukla, Xinhui Wu, Ruofeng Liu, Prani Nalluri (2023)
+    High order entropy stable schemes for the quasi-one-dimensional
+    shallow water and compressible Euler equations
+    [DOI: 10.48550/arXiv.2307.12089](https://doi.org/10.48550/arXiv.2307.12089)
+"""
+@inline function flux_nonconservative_chan_etal(u_ll, u_rr, orientation::Integer,
+                                                equations::ShallowWaterEquationsQuasi1D)
+    a_h_ll, _, b_ll, a_ll = u_ll
+    a_h_rr, _, b_rr, a_rr = u_rr
+
+    h_ll = waterheight(u_ll, equations)
+    h_rr = waterheight(u_rr, equations)
+
+    z = zero(eltype(u_ll))
+
+    return SVector(z, equations.gravity * a_ll * h_ll * (h_rr + b_rr), z, z)
+end
+
+"""
+    flux_chan_etal(u_ll, u_rr, orientation,
+                   equations::ShallowWaterEquationsQuasi1D)
+
+Total energy conservative (mathematical entropy for quasi shallow water equations) split form.
+When the bottom topography is nonzero this scheme will be well-balanced when used as a `volume_flux`.
+The `surface_flux` should still use, e.g., [`FluxPlusDissipation(flux_chan_etal, DissipationLocalLaxFriedrichs())`](@ref).
+
+Further details are available in the paper:
+- Jesse Chan, Khemraj Shukla, Xinhui Wu, Ruofeng Liu, Prani Nalluri (2023) 
+  High order entropy stable schemes for the quasi-one-dimensional
+  shallow water and compressible Euler equations
+  [DOI: 10.48550/arXiv.2307.12089](https://doi.org/10.48550/arXiv.2307.12089)
+"""
+@inline function flux_chan_etal(u_ll, u_rr, orientation::Integer,
+                                equations::ShallowWaterEquationsQuasi1D)
+    a_h_ll, a_h_v_ll, _, _ = u_ll
+    a_h_rr, a_h_v_rr, _, _ = u_rr
+
+    v_ll = velocity(u_ll, equations)
+    v_rr = velocity(u_rr, equations)
+
+    f1 = 0.5 * (a_h_v_ll + a_h_v_rr)
+    f2 = f1 * 0.5 * (v_ll + v_rr)
+
+    return SVector(f1, f2, zero(eltype(u_ll)), zero(eltype(u_ll)))
+end
+
+# Calculate maximum wave speed for local Lax-Friedrichs-type dissipation as the
+# maximum velocity magnitude plus the maximum speed of sound
+@inline function max_abs_speed_naive(u_ll, u_rr, orientation::Integer,
+                                     equations::ShallowWaterEquationsQuasi1D)
+    # Get the velocity quantities
+    v_ll = velocity(u_ll, equations)
+    v_rr = velocity(u_rr, equations)
+
+    # Calculate the wave celerity on the left and right
+    h_ll = waterheight(u_ll, equations)
+    h_rr = waterheight(u_rr, equations)
+    c_ll = sqrt(equations.gravity * h_ll)
+    c_rr = sqrt(equations.gravity * h_rr)
+
+    return max(abs(v_ll), abs(v_rr)) + max(c_ll, c_rr)
+end
+
+# Specialized `DissipationLocalLaxFriedrichs` to avoid spurious dissipation in the bottom topography
+@inline function (dissipation::DissipationLocalLaxFriedrichs)(u_ll, u_rr,
+                                                              orientation_or_normal_direction,
+                                                              equations::ShallowWaterEquationsQuasi1D)
+    λ = dissipation.max_abs_speed(u_ll, u_rr, orientation_or_normal_direction,
+                                  equations)
+    diss = -0.5 * λ * (u_rr - u_ll)
+    return SVector(diss[1], diss[2], zero(eltype(u_ll)), zero(eltype(u_ll)))
+end
+
+# Helper function to extract the velocity vector from the conservative variables
+@inline function velocity(u, equations::ShallowWaterEquationsQuasi1D)
+    a_h, a_h_v, _, _ = u
+
+    v = a_h_v / a_h
+
+    return v
+end
+
+# Convert conservative variables to primitive
+@inline function cons2prim(u, equations::ShallowWaterEquationsQuasi1D)
+    a_h, _, b, a = u
+    h = a_h / a
+    H = h + b
+    v = velocity(u, equations)
+    return SVector(H, v, b, a)
+end
+
+#Convert conservative variables to entropy variables
+# Note, only the first two are the entropy variables, the third and foruth entries still
+# just carry the bottom topography and channel width values for convenience
+@inline function cons2entropy(u, equations::ShallowWaterEquationsQuasi1D)
+    a_h, a_h_v, b, a = u
+    h = waterheight(u, equations)
+    v = velocity(u, equations)
+    #entropy variables are the same as ones in standard shallow water equations
+    w1 = equations.gravity * (h + b) - 0.5 * v^2
+    w2 = v
+
+    return SVector(w1, w2, b, a)
+end
+
+# Convert primitive to conservative variables
+@inline function prim2cons(prim, equations::ShallowWaterEquationsQuasi1D)
+    H, v, b, a = prim
+
+    a_h = a * (H - b)
+    a_h_v = a_h * v
+    return SVector(a_h, a_h_v, b, a)
+end
+
+@inline function waterheight(u, equations::ShallowWaterEquationsQuasi1D)
+    return u[1] / u[4]
+end
+
+# Entropy function for the shallow water equations is the total energy
+@inline function entropy(cons, equations::ShallowWaterEquationsQuasi1D)
+    a = cons[4]
+    return a * energy_total(cons, equations)
+end
+
+# Calculate total energy for a conservative state `cons`
+@inline function energy_total(cons, equations::ShallowWaterEquationsQuasi1D)
+    a_h, a_h_v, b, a = cons
+    e = (a_h_v^2) / (2 * a * a_h) + 0.5 * equations.gravity * (a_h^2 / a) +
+        equations.gravity * a_h * b
+    return e
+end
+end # @muladd

test/test_tree_1d_shallowwater.jl

@@ -111,6 +111,13 @@ EXAMPLES_DIR = pkgdir(Trixi, "examples", "tree_1d_dgsem")
       linf = [0.00041080213807871235, 0.00014823261488938177, 2.220446049250313e-16],
       tspan = (0.0, 0.05))
   end
+
+  @trixi_testset "elixir_shallow_water_quasi_1D_manufactured.jl" begin
+    @test_trixi_include(joinpath(EXAMPLES_DIR, "elixir_shallow_water_quasi_1D_manufactured.jl"),
+      l2 = [6.37048760275098e-5, 0.0002745658116815704, 4.436491725647962e-6, 8.872983451152218e-6], 
+      linf = [0.00026747526881631956, 0.0012106730729152249, 9.098379777500165e-6, 1.8196759554278685e-5],
+      tspan = (0.0, 0.05))
+  end  
 end
 
 end # module