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CFDTOOLS

Overview

The CFD Utility Software Library, a.k.a. CFDTOOLS, contains nearly 30 numerical analysis libraries and close to 100 utility applications built upon those libraries. These utilities were developed over a roughly fifty year span to support aerospace research and development activities at NASA Ames Research Center (ARC). They are mostly written in Fortran 90 or 77 and are designed with potential reuse in mind. The library also includes C translations of roughly a dozen numerics routines in the C_utilities module.

The library began as the ARC Aerodynamics Division Software Library, and is currently maintained by ARC Entry Systems and Technology Division. David Saunders and Robert Kennelly are the primary authors, with miscellaneous contributions from many others over the years. CFDTOOLS is expected to grow slowly as new functionality is required.

Feature Summary

  • Single-function tools for manipulating multiblock grids and flow solutions
  • Rapid searching/interpolation for structured or unstructured grids (ADT methods)
  • Automated gridding for axisymmetric capsules with curvature-based discretization
  • Generic optimization frameworks with various applications
  • General-purpose numerics subroutines and character-manipulation subroutines

A detailed summary of each library/application is provided below.

Points of Contacts

Build and Install

The CFDTOOLS software archive is available for download on NASA's public Github. The software may be cloned using git in the typical fashion:

git clone https://www.github.com/nasa/cfdtools.git

Once downloaded, the software is compiled and installed using CMake. The software has no dependencies, and is known to build successfully using relatively recent compilers from Intel and GNU on Ubuntu and SUSE Linux. The basic installation process is as follows:

cd <cfdtools_source_dir>
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<cfdtools_install_dir> ..
cmake --build .
cmake --install .

Upon installation, all that is required to use the CFDTOOLS applications is to add <cfdtools_install_dir>/bin to the PATH environment variable. If you are building software that links against the CFDTOOLS library using CMake, simply add -DCMAKE_PREFIX_PATH=<cfdtools_install_dir> to the initial CMake configuration command for your project. Then, in your projects CMakeLists.txt, add the following:

find_package(cfdtools REQUIRED)

add_executable(my_program ...)
target_link_libraries(my_program cfdtools::<libname>)

CFDTOOLS also supports direct inclusion as a project submodule using CMake's add_subdirectory command.

License

This software is released under the NASA Open Source Agreement Version 1.3.

To contribute to this software package we require that non-NASA authors assign their rights in the contributed code to NASA. Contributor License Agreements (CLAs) are available in the contrib folder.

Notices

Copyright 2021 United States Government as represented by the Administrator of the National Aeronautics and Space Administration. No copyright is claimed in the United States under Title 17, U.S. Code. All Other Rights Reserved.

Disclaimers

No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY KIND, EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL CONFORM TO SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF PROVIDED, WILL CONFORM TO THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN ANY MANNER, CONSTITUTE AN ENDORSEMENT BY GOVERNMENT AGENCY OR ANY PRIOR RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE, SOFTWARE PRODUCTS OR ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE. FURTHER, GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING THIRD-PARTY SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES IT "AS IS."

Waiver and Indemnity: RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT. IF RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN ANY LIABILITIES, DEMANDS, DAMAGES, EXPENSES OR LOSSES ARISING FROM SUCH USE, INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR RESULTING FROM, RECIPIENT'S USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.

Library Summary

Component Description
aa_nurbs Supplements the DT_NURBS library, for B-spline airfoils
adt Rapid search/interpolation within computational meshes
blaslib Basic linear algebra subprogram utilities (vectors)
blas2lib NAG versions of the Level 2 BLAS Matrix-vector routines
C_utilities Handful of C translations from interplib, linsys, etc.
dt_nurbs (Dated) David Taylor Naval Research Center NURBS library
eigenlib Just the EISPACK routines used by CAVITY_MAP rotations
forsythe Original Forsythe, Malcolm & Moler library (historical)
geomlib Areas, rotations, nearest points, arc lengths, etc.
grid_block_utilities Volume grid analogues of the surface_patch_utilities
gridlib Mostly for structured 2/3-space grids; many 1-D distributions
integrate Numerical quadrature, mostly 1-D, with a driving program
interplib 1-D interpolation & smoothing utilities; see SMOOTH
interp2d 2-D interpolation, smoothing, & intersection utilities; see SMOOTH2D
interp3d 3-space interpolations, intersections, etc.
intrinsics Contains only trig_functions_in_degrees: g95 cosd, etc.
kdtree Matthew Kennel's open source package, now an option in FLOW_INTERP
! lapacksubset ! LAPACK routines needed by symevd, symevdsolve added to linsys
linsys Linear system solvers, mostly dense factorization methods
numodules Miscellaneous utilities: finite differences, standard deviations, etc.
obsolete Still linked to by INTEGRATE, MAXMIN, PROFILE, and SMOOTH
Optimal_Interpolation Alexander Barth's Kriging-like package, with extensions
optlib 1-D zero/minimum finders; n-D unconstrained methods, etc.
progtools String-manipulation & prompting utilities, incl. string_justify module
searchlib 1-D search/sort routines; some for 2/3-D now deprecated
special_functions A few utilities related to erf(x), normal distributions, etc.
surface_patch_utilities For structured surface grids: scale/shift/transpose, etc.
table_io I/O utilities for plain text tables (headers + numeric rows)
tecplot_io Tecplot I/O package for structured multizone data
triangulation_io Tecplot I/O package for triangulated surface data
ugridlib Triangle and other unstructured surface/volume data utilities
xyq_io PLOT2D-type multiblock structured grid I/O utilities, in xyzq_io folder
xyzq_io PLOT3D-type multiblock structured grid I/O utilities; see also f_io.f90

Application Summary

C = CFD, G = General Numerics, P = Programming Tool

Program Type Description
a2b G Converts a (large) ASCII file to a binary stream file.
adjust_flow C Analogue of ADJUST_GRID for PLOT3D-format flow solutions
adjust_grid C 20-odd options: shift/scale/rotate/swap coordinates, etc.
aero_coefs C Aerodynamic force/moment coefs. for structured surface data containing p or Cp
aerosurf C Wing/body/nacelle surface paneling; underlies shape optimization
anchor G Applies Optimal_Interpolation package to aerodynamic or other unstructured data
blayer C Boundary layer analysis of a structured flow solution
body_point_data CG For one body point extract time histories of flow variables as a table
bsprofile C B-spline curve analogue of PROFILE airfoil utility
bump_factors C Compare related structured surface solutions as ratios
capsule_grid C Automated surface grid for sphere/cone; many aft body options
capsule_spokes C Supplements POLAR_INTERP by setting up spoked body points for a capsule
cavity_map C Map local cavity flow solution to unit cube; slice it, etc.
ch_grid C Stand-alone form of the automated C-H volume gridding in wing/body design code SYN87
columnedit P Insert/delete/replace column(s) in a dataset
combine_blocks C Combine multiblock grids/solutions; cavity block options
combine_blocks_turb C COMBINE_BLOCKS variant required for turbulent flows
compare_blocks C Compare related structured grids: identical? maximum differences?
compare_flows C Flow field analogue of COMPARE_BLOCKS (volume / surface)
compare_patches C Surface grid analogue of COMPARE_BLOCKS
compress2d C CAPSULE_GRID tool; adjust upstream boundary, wall spacing, # radial grid points, etc.
cones_of_sight C Body-normal sets of 9 discretized lines forming cones for radiation calculations
cross_sections C Slice a surface dataset (structured / unstructured) at many stations
curvature C Evaluate curvature along X-Y curve; redistribute points according to curvature
curvature3d C X-Y-Z curve analogue of CURVATURE
deconstruct C Convert a multiblock structured surface or volume grid to unstructured form
distribute C Drives available 1-D grid-point distribution utilities
extract_blocks C Extract indicated block(s) from a multiblock grid/flow
extract_blocks_2d C Extract indicated block(s) from a multiblock 2D grid/flow
extract_columns GP Extract column(s); options to scale/shift/reformat
extract_functions C Extract selected functions efficiently from a PLOT3D function file.
extract_lines GP Extract every nth line starting from some line
extract_peaks CGP For a list of files of column data, tabulate peak values
filter_lines GP Remove non-numeric lines (excess headers?) from a table
flow_interp C Volume grid search & flow interpolation (ADT method and KDTREE method)
flow_interp_2d C 2-space analogue of FLOW_INTERP
gen1d G Generate (x,y) datasets from a choice of y = f(x) functions
gradient_based CG Redistribute points along a curve using abs(df/ds), where s is arc length, for some function f
grid_faces C Extract grid block face(s) from a multiblock grid/flow
gsmooth C Elliptic volume grid smoothing; option to detect bad cells
gu C Ryan McDaniel's multi-option tool for PLOT3D grids/flows
heat_shield C Forebody shape optimization, axisymmetric option; Newtonian CL/CD
hemispheres_of_sight C Sets of discretized lines forming hemispheres for radiation calculations; see also SLOS, USLOS
hyper_aero C Driver for available impact methods, including Modified Newtonian
insert_lines P Insert lines from one file into another at some interval
interp_1d G Interactive linear/local spline interpolation, 1-D
interp_columns GP Adaptation of REGULARIZE; variable column to treat as "x"
join_grid C SPLIT_GRID companion for merging blocks
line_grid GP Uniform grid between 2 points in 3-space; extrapolation OK
lines_of_sight C Body-normal
lines_of_sight_2d C 2-space analogue of 3-space LINES_OF_SIGHT
loc P Count lines of code & comments in a Fortran source file
los_attenuation C Radio attenuation calculation for one line of sight; multiple options
makelist P Make a list of integers for given i1, i2, increment
maxmin G Analogue of SMOOTH for looking at 1st & 2nd derivatives
merge_blocks C Variant of JOIN_GRID allowing for optional function file
merge_files C Merge variables of two Tecplot files (same structured grid)
merge_tables GP Rearrange columns from any number of tables into a new table
nbyn G Interactive solution of square n x n systems; n <= 6
neqair_data C Converts line-of-sight data from PLOT3D form to NEQAIR form
neqair_integration C Integrates radiances from hemisphere lines of sight to estimate radiative heat flux
nozzle_throat_conditions C Axisymmetric variant of THROAT_CONDITIONS_3D
npopt_driver G Framework for a [sequence of] constrained minimization[s]
outbound C Off-line grid/shock alignment; other redistribution options
p3d2tec C Convert between PLOT3D grid/flow format and Tecplot form
polar_interp C Pad spoked forebody radiation data nonlinearly
precision G Estimate objective function precision (difference table)
prepare_local_analysis C Rapid set-up of DPLR-based damage/repair/feature calculations: cavity / protruding gap-filler
prepare_neqair_data C Facilitates scripting of radiative heating calculations by NEQAIR
profile C Airfoil geometry display/manipulation utility
qnmdriver2 G Framework for one unconstrained optimization (QNMDIF2)
qnmdriver3 G Framework for a sequence of unconstrained optimizations
radial_interp C Rapid volume grid
radial_interp_2d C 2-space RADIAL_INTERP analogue; both one layer of grid blocks
rectify_grid C Ensure right-handedness for 3-space volume or surface grid
redistribute_xy C Redistribute points in a 2- or 3-space line segment (1- or 2-sided stretching)
refine_grid C Densify or thin multiblock grid/flow data, any multipliers
reflect_blocks C Reflect 3-space grid/flow data; save reflected or both halves
reflect_blocks_2d C Reflect 2-space grid/flow data; save reflected or both halves
reorder_blocks C Reorder some or all grid blocks; optional flow file
reorder_rows GP Reorder tabular data so leading n columns vary differently
reorder_segments GC Reorder multiple 1-D Tecplot zones as 1 continuous zone
reshape G For 2 of 2 or more columns, shift/scale/rotate/... (11 options)
reshape3d G 3-space analogue of RESHAPE
revolve_grid C 2-space volume grid --> 3-space; may need RADIAL_INTERP next
scan_grid C Tabulate data range, etc., by grid block; optional flow
shadowgraph C CFD density data --> shadowgraph/schlieren-like image
shiftscale G Interactive calculation of linear coefficients for transforming [a, b] -> [p, q]
shock_stand_off C For volume grid & flow field temperature, calculate shock stand-off distances
slos C USLOS-type merge of LINES_OF_SIGHT & HEMISPHERES_OF_SIGHT (structured grid)
smooth G Drives available 1-D interpolation & smoothing utilities
smooth2d G Bivariate analogue of SMOOTH
sort_rows GP Sorts the output from grep (say) or a list of file names containing numeric substrings.
sort_surface_slice C Sort Tecplot surface slice into 1 or more curves for line plots
split_grid C Split multiblock grid/flow and/or permute indices
Stardust_Lines C Radiation lines of sight for airborne or ground observation of an entry capsule
Stardust_Integration C Companion to Stardust_Lines
surface_curvature C Gaussian/mean/principal curvatures for surface/volume grid
surface_diffs C Map Tecplot surface grid 1 to grid 2; save [%]differences
surface_interp C Interpolate 3-space Tecplot or Plot3D surface data at target surface or list of data point(s)
surface_interp_2d C Interpolate 2-space Tecplot surface data at target data point(s)
surface_pad C Pad structured surface data nonlinearly: 1-D in i and/or j
surface_patches C ADJUST_GRID variant with more surface_patch_utilities options
table_arithmetic G Manipulate one or two data tables by columns
template C Calculate block interface data and DPLR-type control file (structured volume grid)
tet_interp C Interpolate tetrahedral volume data to a structured multiblock grid
thin_flow C THIN_GRID analogue for multiblock flow data
thin_grid C Extract every mth/nth[/kth] point in i/j[/k] directions
thin_grid_2d C THIN_GRID analogue for 2-space; grid only
throat_conditions_3d C Boundary conditions at arc-jet nozzle: rectangular, circular, semi-elliptic
trail GP Truncate lines and/or strip trailing blanks
traj_fit C Nonlinear least squares fitting of f(rho(t),V(t) = C rho(t)^m V(t)^n via the QNMDRIVER2 framework
traj_opt CG Trajectory optimization: would need an NPOPT license from Stanford University
tri_to_quad C Impose a structured surface on a Tecplot triangulation
tri_to_tri C Interpolate a single-zone Tecplot triangulation dataset to another 1+-zone target triangulation
triangulation_tool C Drives scale/shift/rotate transformations and area/volume/CM/moments of inertia calculations for a Tecplot unstructured surface or volume dataset (1+ zones)
update_grid C Replace one or more grid blocks with same-sized block(s) from other file or files
upsequence C Upsequence coarse cavity/plug/gap filler solution; impose fine local boundary flow
usflowinterp C Interpolation within an unstructured 3D Tecplottable dataset (ADT search techniques)
usinterp C Driver for the optimal interpolation package (scattered data interpolation in n dimensions)
uslos C Merge of LINES_OF_SIGHT & HEMISPHERES_OF_SIGHT for unstructured surfaces
v2c C Convert grid [+ optional flow]: cell vertices to centers
! wedge ! C ! Convert a structured 2D grid & optional solution to wedge form for US3D or LAURA
wingsections C B-spline sections + chord/thickness data --> B-spline wing
xdeck P Ancient precursor of TRAIL: remove trailing / leading characters
xline P Remove lines starting with a target string

History

  • Aug 30 2013: Initial preparation.
  • Sep 20 2013: Initial summary uploads to SourceForge.
  • Sep 30 2013: Still awaiting final NASA approval to upload software.
  • Oct 17 2013: CAPSULE_GRID document uploaded following 2.5-week government shutdown hiatus.
  • Oct 22 2013: Folders for all libraries are now set up with subroutine one- liner READMEs.
  • Oct 30 2013: Folders for all applications are now set up with README files.
  • Jan 24 2014: NASA approval for uploading the software proper.
  • Jan 29 2014: All the library *.tar.gz files are now in place; applications still to do.
  • Feb 05 2014: All straightforward applications have been uploaded with simple build scripts.
  • Feb 10 2014: UPDATE_GRID has been added; it and GSMOOTH now use xyzq_io, not the earlier cfd_io_package.
  • Jun 30 2014: Someone needed the DECONSTRUCT utility. A few updates since Feb 10 include solid angle utilities in ugridlib, a handful of functions in special_functions, and a reworked form of the HEMISPHERES_OF_SIGHT application that defines lines of sight at a point on a convex body via a triangulated quadrant of a hemisphere rather than via latitude/longitude discretization.
  • Jul 03 2014: TRI_TO_TRI has been added; a triangulation_io glitch has been corrected.
  • Aug 07 2014: EXTRACT_BLAYER_DATA has been added to the BLAYER folder.
  • Aug 14 2014: Optimal_Interpolation now contains the package for treating unstructured data as modified at NASA Ames from Alexander Barth's original, following NASA approval of its added BSD 2-Clause License.
  • Sep 05 2014: FILTER_LINES and MERGE_TABLES have been added.
  • Sep 24 2014: Traj_Fit has been added. It curve-fits heat flux or pressure pulse data using f(rho(t),V(t)) = C rho(t)**m V(t)**n within the QNMDRIVER2 framework, as might be needed for TPS sizing at an entry vehicle body point from selected CFD data points.
  • Oct 03 2014: The table_io module used by Traj_Fit has been updated.
  • Oct 22 2014: The triangulation_io package has been extended with options for calculation of area, volume, CM, and moments of inertia. See the new TRIANGULATION_TOOL for driving these options along with shift/scale/rotate options.
  • Nov 17 2014: Unstructured volume analogues of unstructured surface utilities have been added to triangulation_io and are driven by TRIANGULATION_TOOL.
  • Mar 18 2015: An apparently inconsequential glitch in BLAYER has been remedied. This version can also read [unformatted] volume datasets to speed processing of large-grid cases.
  • Mar 13 2015: OUTBOUND now has an option to applied a CONSTANT margin as a way of moving the forebody boundary a little while barely affecting the wake boundary.
  • Apr 15 2015: The ADT rapid search package (/adt) now has 2-space multi- block curve analogues of the 3-space structured multiblock surface grid utilities. LINES_OF_SIGHT_2D uses these to deal with reflected axisymmetric 2-space volume grid. SURFACE_INTERP_2D has been added, using the same 2-space ADT utilities.
  • Aug 23 2016: TET_INTERP has been added to interpolate tetrahedral volume data to a structured multiblock grid.
  • Mar 17 2017: SORT_ROWS (added Feb 14) has been extended to allow more than one numeric string in a text column, and to allow output in descending order if desired. Other recent refinements: COLUMNEDIT now allows extraction of more than one column at a time; the table_io module has an updated table_io_read_alpha utility prompted by SORT_ROWS that handles the case of all lines/rows treated as text and having the same number of columns (with no header records assumed). Previously, all rows were interpreted as header records, meaning the table appeared empty.
  • Jun 23 2017: NEQAIR_DATA, NEQAIR_Integration, and PREPARE_NEQAIR_DATA have been added to assist radiation calculations with NEQAIR. NEQAIR itself should be obtained through the Commercial Technology Office at NASA Ames Research Center.
  • Jan 04 2018: Added A2B utility. Since June, minor changes have been made to GU, BLAYER, LINES_OF_SIGHT, SHOCK_STAND_OFF, and OUTBOUND.
  • Jun 06 2018: Added Aero_Coefs application (supplement to DPLR's Postflow). Since January, updates have been made to geomlib, gridlib, progtools, searchlib, CAPSULE_GRID, CONVERTQ, GU, HEMISPHERES_- OF_SIGHT, NEQAIR_Integration, RADIAL_INTERP, and RESHAPE3D.
  • Sep 19 2018: Added EXTRACT_BLOCKS_2D and EXTRACT_FUNCTIONS; xyq_io and f_io were missing from the xyzq_io folder; since June, several triangulation utilities have been extended to overcome any single-zone assumptions, NEQAIR_Integration has been improved, and POLAR_INTERP has had an option added to generate spoked body points (but see also CAPSULE_SPOKES, which had been over- looked here as well).
  • Nov 07 2018: Added SLOS (structured grid form of USLOS for lines of sight).
  • Mar 07 2021: Release updated CMake build system. Move repository to NASA's public GitHub. Various small improvements to radial_interp, refine, capsule_grid, and prepare_neqair_data.
  • Nov 07 2021: Added BODY_POINT_DATA and miscellaneous updates to repository.
  • Nov 20 2021: Re-reviewed and approved for open source release by Ames Research center under the NASA Open Source License v1.3. Added updated license file and contributor license agreements.
  • May 19 2022: Added USINTERP (driver for the optimal interpolation package), USFLOWINTERP and USREFLECT for operating on Tecplottable outputs from US3D, multiple new routines in geomlib and ugridlib needed by these applications, updates to USLOS, triangulation_io and triangulation_tool, and minor updates to gsmooth, tri_to_tri, and tri_to_quad. An lapacksubset library has also been added because of changes to lib/optinterp/optimal_interpolation.f90. It is needed by the symmetric eigenvalue routines added to linsys.
  • Oct 23 2022: Added DECONSTRUCT (3D structured grid/flow --> unstructured form).
  • Dec 05 2022: Added WEDGE (2D structured --> 3D wedge grid & optional solution).
  • Dec 30 2022: Added 1-D radial basis function interpolation (interplib & SMOOTH).