5. Finite element mesh generation

Finite element mesh generation is a difficult business, and one needs to get used to using at least one mesh generating software package to be able to create meshes for the geometries one wants to simulate.

A list of available free and commercial mesh generators is available at: http://www.andrew.cmu.edu/user/sowen/softsurv.html

For nmag one needs to create ‘unstructured’ meshes which means for three dimensional simulations that the mesh simplices are tetrahedra, and the surface elements are triangles.

We are not recommending any mesh generating software. We have used Netgen to generate most of the meshes for this manual. The Vienna/Sheffield group (Fidler and Schrefl) use the commercial mesh generator GID (http://gid.cimne.upc.es/).

The mesh format used by nmag is called nmesh and described in Nmesh file format.

The nmeshimport tool provides conversion from the following mesh formats into nmesh files:

  • Netgen (neutral). Create mesh in Netgen, then go to File->Export Filetype and ensure that Neutral Format is selected. Then export the mesh with File->Export Mesh. (See also Mesh generation which is part of the Guided Tour.)

  • There is a contributed import module for Gambit. Use at your own risk.

  • Gmsh meshes written file format version 1.0 can be imported.

    If you already have the Gmsh mesh file in format 2.0, then you can use

    $> gmsh -3 -format msh1 -o outfile.msh infile.msh

    to create ‘outfile.msh’ which contains the mesh in the gmesh file format 1.0 that can be imported.

    If you create the mesh interactively, then
    • choose FILE -> SAVE AS,
    • select Gmsh mesh (*.msh) from the drop down list,
    • choose filename and click OK
    • When the MSH Options box appears, choose Version 1.0 from the drop down list in the Format field.
    • click OK

    If you create your meshes automatically from the command line, then add --format msh1 to the command line to instruct Gmsh to write in the 1.0 format.

5.1. Nmesh file format

There are two nmesh file formats: Ascii nmesh and Hdf5 nmesh.

5.1.1. Ascii nmesh

This section describes the syntax of the nmesh ascii files. You only need to read this if you would like to know what the nmesh ascii format looks like. This is only necessary if you (i) need to convert nmesh ascii files into other mesh formats, or (ii) if you have generated a mesh in a format that is not supported by nmeshimport.

(You could in principle convert any data into the nmesh hdf5 format but it is expected that it is easier to convert the mesh into a nmesh ascii file, and then use nmeshpp with option --convert to convert the mesh frnm nmesh ascii to nmesh hdf5.)

We describe the structure of the ascii nmesh file format using the following example: A mesh file for a sphere with radius 1 (with Netgen and this geometry file sphere.geo):

_images/smallsphere.png

The mesh file looks as follows:

# PYFEM mesh file version 1.0
# dim = 3      nodes = 79      simplices = 174         surfaces = 148          periodic = 0
79
         0.000000000000            0.000000000000            0.000000000000
         1.000000000000            0.000000000000            0.000000000000
         0.911922000000            0.410365000000            0.000000000000
         0.941662000000            0.159249000000            0.296499000000
<snip>
         0.038305000000           -0.552912000000           -0.107777000000
        -0.533150000000            0.052091000000           -0.084880000000
174
     1         58          0         62         78
     1         33         78         36         50
     1         19         77          0         17
     1         67         75         78         72
<snip>
     1         58          0         53         62
     1         77         51         32         39
     1         78         67         63         72
     1         78         49         63         50
148
     -1 1     45 51 59
     1 -1     5 12 13
     1 -1     25 37 39
<snip>
     1 -1     19 30 34
     1 -1     42 44 54
     1 -1     32 45 51

We have removed a significant number of lines for the purpose of abbreviation in the places marked with <snip>. We discuss the different parts of this file in more detail:

  • The file starts with two lines starting with #.

    • The first line contains a file format version string which needs to have exactly this form.

    • The second line contains a summary of the data, i.e.:

      dim

      the dimensionality of the space in which the mesh is defined (usually 3, as we work with meshes in 3d space).

      nodes

      the number of nodes (also called vertices), here 79

      simplices

      the number of simplices (also called volume elements), here 174. In 3d, a simplex is a tetrahedron.

      surfaces

      the number of surface elements, here 148. In 3d, the surface elements are triangles.

      periodic

      the number of periodic identifications of points.

  • The next section contains the data for all the nodes. The first line of this section contains (again) the total number of nodes (79). All subsequent 79 lines in this section contain each the position of one node. Because the dimensionality of space in this example is 3, there are 3 floating point numbers per node (i.e. the x, y and z-component).

  • The next section contains the data for the simplices. The first line of this section contains (again) the total number of simplices (here 174). The next 174 lines contain the following information each:

    The first integer is a region identifier. In this example, we have only one region (the sphere). This is useful, if different magnetic materials are simulated at the same time. When the mesh is loaded into nmag, one assigns material properties to these regions.

    The next 4 integers (in 3 dimensions) are node identifiers. The 4 nodes listed here, form a simplex. Note that the very first node has index 0.

  • The next section contains the data for the surface elements. The first line contains the number of surface elements (148). The next 148 lines contain each the following information:

    • The first two integers are the region identifiers between which the surface is sandwiched. If there is no simplex on one side of the surface, then the “outside” region identifier of -1 will be used. (It is possible to use other negative numbers to discern between different parts of the outer boundary. This is occasionally important in nsim to specify Dirichlet and von Neumann boundary conditions along different parts of a boundary.)
    • The following integers are the node ids of the nodes that define the surface. (In this example, we have three nodes as the surface elements are triangles.)

    Note that this last section is only contained in the file to make the users’ life easier (for, say, plotting of the mesh). This section on surface elements can be omitted and nmesh will read and process the mesh even if the surface elements are not specified (they can be computed from the node and simplex data provided in the other sections).

  • The next section contains data about periodic points. The first line again is the number of data lines to follow. Each data line gives the node indices belonging to one set of points that are treated as copies of the same point. (I.e. Nmag will know that field degrees of freedom associated to points from such a set will have “mirage” copies and use this information internally e.g. in the time integrator and when building finite element matrix operators.)

5.1.2. Hdf5 nmesh

In addition to the Ascii nmesh format, there is another (binary and compressed) way of storing nmesh meshes. This is based on the hdf5 library which often is abbreviated as h5.

We recommend that this file-format to store meshes as it is a compressed binary file format, and thus much more space efficient. The nmeshpp tool can convert (using --convert) ascii nmesh files into hdf5 files. Likewise, using the nmeshimport tool with a target file name that ends in .h5 will also choose this file format. We strongly recommend to use the extension .nmesh.h5 (but .h5 is sufficient to trigger saving meshes in hdf5 format).

For conversion of other mesh formats to a format readable by nmesh, we suggest to bring data into Ascii nmesh format, and then convert this ascii nmesh file to a .h5 file.

For completeness, we outline the nmesh.h5 file format here. Knowledge of hdf5 or pytables may be useful to understand the underlying concepts.

The nmesh.h5 file contains the following nodes (this is output from pytables‘s ptdump program):

/ (RootGroup) ''
/etc (Group) 'Configuration and version data'
/etc/filetype (Array(1L,)) 'data file type'
/etc/fileversion (Array(1L,)) 'data file type version'
/mesh (Group) 'Mesh data'
/mesh/points (CArray(1154L, 3L), shuffle,
              zlib(5)) 'Positions of mesh nodes (=points)'
/mesh/simplices (CArray(4953L, 4L), shuffle, zlib(5))
             'Indices of nodes (starting from zero).
              Each row is one simplex.'
/mesh/simplicesregions (CArray(4953L,), shuffle, zlib(5))
             'Region ids (one for each simplex).'

In short, the position of the mesh nodes are stored in /mesh/points as 8byte-floats. The simplices (i.e. tetrahedra in 3d) are stored in /mesh/simplices as a set of integers (4 in 3d) per simplex which are the indices of the mesh nodes that form the simplex. We also need to store to what physical region each simplex belongs. Regions are coded by integer values (with 0 being vacuum, and -1 the area outside the mesh) and stored in /mesh/simplicesregions.

5.2. mesh file size

The following table shows the size of the mesh file used in Example 2: Computing the time development of a system stored in various formats.

Filename size (kB) type
bar30_30_100.neutral 1036 ascii
bar30_30_100.neutral.gz 246 gzipped ascii
bar30_30_100.nmesh 794 ascii
bar30_30_100.nmesh.h5 203 hdf5

The .neutral file is the mesh as written by Netgen in this particular format. The second line shows the file size of the same file after compressing with gzip. The third line shows the size of the mesh stored as an Ascii nmesh file while the last line gives the size of the corresponding Hdf5 nmesh file.