@woosh/meep-engine 2.138.20 → 2.140.0

package/src/engine/physics/fluid/solver/v3_grid_solve_pressure.js

@@ -0,0 +1,126 @@
+import { assert } from "../../../../core/assert.js";
+
+/**
+ * Popcount lookup for the 6-bit neighbour mask. Index = mask value (0–63 used in
+ * practice; the table is sized 64 so the read is a single bounded indexed access).
+ * Values are the SOR denominator (number of fluid neighbours) for each mask.
+ *
+ * @type {Uint8Array}
+ */
+const POPCOUNT_6 = (function () {
+    const t = new Uint8Array(64);
+    for (let i = 0; i < 64; i++) {
+        let c = 0;
+        for (let b = 0; b < 6; b++) if (i & (1 << b)) c++;
+        t[i] = c;
+    }
+    return t;
+})();
+
+/**
+ * Solve the pressure Poisson equation `∇²p = div(v)` by red-black Successive
+ * Over-Relaxation (SOR), gated by a pre-baked per-cell neighbour mask.
+ *
+ * Per cell, the update is:
+ *
+ *     p_jacobi(c) = ( sum_of_fluid_neighbour_pressures - div(c) ) / count
+ *     p(c) = (1 - ω) * p(c) + ω * p_jacobi(c)
+ *
+ * "Which neighbours count as fluid" is determined entirely by `neighbour_mask`,
+ * a Uint8Array allocated and populated by {@link FluidField} via
+ * {@link FluidField.recomputeSolidNeighbourMask}. The encoding is:
+ *
+ *     bit 0 (= 1)  : -x neighbour is fluid
+ *     bit 1 (= 2)  : +x neighbour is fluid
+ *     bit 2 (= 4)  : -y neighbour is fluid
+ *     bit 3 (= 8)  : +y neighbour is fluid
+ *     bit 4 (= 16) : -z neighbour is fluid
+ *     bit 5 (= 32) : +z neighbour is fluid
+ *
+ * Solid cells encode as `mask = 0`, so the inner loop's `mask === 0 ? skip` covers
+ * both self-solid AND fluid-with-no-fluid-neighbours in one comparison. This
+ * eliminates six boundary checks plus six solid-neighbour checks per cell per
+ * iteration, replacing them with a single mask read and six bit-tests on a
+ * register-resident value. Boundary handling (cells at x=0, x=last, etc.) is
+ * implicit — the recompute step writes 0 into the boundary-facing bit, so the
+ * SOR loop never reads out-of-range memory.
+ *
+ * Cells are visited in two passes per iteration: first "red" (`(x+y+z) % 2 === 0`)
+ * then "black". Adjacent cells have opposite colour, so each pass reads only
+ * cells of the other colour and writes are independent — same in-place red-black
+ * scheme as the un-masked variant.
+ *
+ * @param {Float32Array|Float16Array} pressure  Mutated in place. Pre-fill with 0
+ *     or with the previous step's solution to warm-start.
+ * @param {Float32Array|Float16Array} divergence  From
+ *     {@link v3_grid_compute_divergence}. Same dtype as pressure.
+ * @param {number} res_x
+ * @param {number} res_y
+ * @param {number} res_z
+ * @param {number} iterations  Number of red-black sweeps.
+ * @param {number} omega  SOR relaxation factor in (0, 2). Near-optimal values
+ *     come from {@link optimal_sor_omega}.
+ * @param {Uint8Array} neighbour_mask  Length ≥ res_x*res_y*res_z. Each byte
+ *     encodes the fluid-neighbour bitmask (see above). MUST be recomputed
+ *     whenever the underlying solid mask changes.
+ */
+export function v3_grid_solve_pressure(pressure, divergence, res_x, res_y, res_z, iterations, omega, neighbour_mask) {
+    const cell_count = res_x * res_y * res_z;
+
+    assert.notEqual(pressure, divergence, "pressure must not alias divergence");
+    assert.greaterThanOrEqual(pressure.length, cell_count, "pressure covers grid");
+    assert.greaterThanOrEqual(divergence.length, cell_count, "divergence covers grid");
+    assert.greaterThanOrEqual(neighbour_mask.length, cell_count, "neighbour_mask covers grid");
+    assert.isNonNegativeInteger(iterations, "iterations");
+    assert.greaterThan(omega, 0, "omega");
+    assert.lessThan(omega, 2, "omega");
+
+    if (iterations === 0) {
+        return;
+    }
+
+    const slice_size = res_x * res_y;
+    const one_minus_omega = 1 - omega;
+
+    for (let iter = 0; iter < iterations; iter++) {
+
+        // Two passes per iteration: red (parity 0), then black (parity 1). Inside each
+        // pass the cell colour determines which x-positions we visit per scanline.
+        for (let pass = 0; pass < 2; pass++) {
+
+            for (let z = 0; z < res_z; z++) {
+                const z_off = z * slice_size;
+
+                for (let y = 0; y < res_y; y++) {
+                    const y_off = y * res_x;
+
+                    // First x for this scanline of the requested colour.
+                    const x_start = ((z + y) & 1) ^ pass;
+
+                    for (let x = x_start; x < res_x; x += 2) {
+                        const c = z_off + y_off + x;
+
+                        const mask = neighbour_mask[c];
+                        if (mask === 0) {
+                            // Solid cell OR isolated fluid with no fluid neighbours.
+                            // Either way, no degrees of freedom — skip.
+                            continue;
+                        }
+
+                        let sum = 0;
+                        if (mask & 1)  sum += pressure[c - 1];
+                        if (mask & 2)  sum += pressure[c + 1];
+                        if (mask & 4)  sum += pressure[c - res_x];
+                        if (mask & 8)  sum += pressure[c + res_x];
+                        if (mask & 16) sum += pressure[c - slice_size];
+                        if (mask & 32) sum += pressure[c + slice_size];
+
+                        const count = POPCOUNT_6[mask];
+                        const p_target = (sum - divergence[c]) / count;
+                        pressure[c] = one_minus_omega * pressure[c] + omega * p_target;
+                    }
+                }
+            }
+        }
+    }
+}

package/src/engine/physics/fluid/solver/v3_grid_solve_pressure_pcg.d.ts

@@ -0,0 +1,93 @@
+/**
+ * Pressure Poisson solver: Modified Incomplete Cholesky preconditioned Conjugate
+ * Gradient — MIC(0)-PCG.
+ *
+ * Solves `A * p = -div(v)` where A is the 7-point discrete Laplacian over fluid
+ * cells (same sign convention as {@link v3_grid_solve_pressure} — that
+ * function's SOR update is exactly the splitting `A * p = -div`). Per cell:
+ *
+ *     A[c, c]  = number of fluid neighbours (= popcount(neighbour_mask[c]))
+ *     A[c, c'] = -1 if c' is a fluid neighbour of c, else 0
+ *
+ * PCG converges in roughly `O(√κ)` iterations where κ is the spectral condition
+ * number of `M⁻¹A`. The MIC(0) preconditioner reduces κ from `O(N²)` (raw
+ * Laplacian) to `O(N)`, so a single PCG iter does a lot more useful work than
+ * a single SOR sweep.
+ *
+ * **Empirical finding (V8 / Node, single-thread, this implementation).** Each
+ * PCG iter involves ~8 separate per-cell passes (As compute, axpy×2,
+ * mean-subtract, fwd+bwd triangular solves, dot, s update) vs SOR's 2. In
+ * native code each pass is bandwidth-bound and per-iter ratio approaches the
+ * textbook 2× — yielding the canonical 1.5–2× wall-time win for PCG. In V8,
+ * per-pass loop overhead dominates; the actual per-iter ratio is closer to
+ * 4-6× and PCG ends up SLOWER than SOR at iso-quality on production grids:
+ *
+ *     res=64:  SOR  16 iter  /  75 ms,  max|div| 3.09e-1
+ *              PCG   8 iter  / 181 ms,  max|div| 3.72e-3   (PCG 2.4× slower)
+ *
+ *     res=128: SOR  32 iter  / 862 ms,  max|div| 8.74e-1
+ *              PCG   8 iter  /1452 ms,  max|div| 5.65e-3   (PCG 1.7× slower)
+ *
+ * (Reproduce via `bench: MIC-PCG vs SOR` in bench.spec.js.)
+ *
+ * Where PCG still wins: **convergence depth**. At the SAME iter count it
+ * produces dramatically lower residual divergence (84× better max|div| at
+ * 64³, 247× at 128³). If you need quality below the cell-centered operator
+ * floor SOR plateaus at — e.g. quantitative pressure inspection, or
+ * extreme-impulse scenes where the SOR floor is visible — PCG is the answer.
+ * For visual-fluids steady state, **leave the default at SOR**.
+ *
+ * If this code is ever ported to WASM SIMD or WebGPU the perf comparison
+ * flips: per-iter overhead becomes negligible in those environments and the
+ * theoretical 1.5–2× PCG win re-emerges. Worth re-running the bench then.
+ *
+ * Algorithm (Bridson "Fluid Simulation for Computer Graphics" §5.6, Saad
+ * §10.2):
+ *
+ *     1.  build_preconditioner: walk fluid cells in lex order, computing
+ *         precon[c] = 1 / sqrt(e[c]) where e[c] is the modified Cholesky
+ *         diagonal. Backward neighbours (-x, -y, -z) contribute to the
+ *         subtraction.
+ *
+ *     2.  r₀ = -div - A * p₀     (initial residual; p₀ is the warm-start)
+ *         z₀ = M⁻¹ * r₀          (apply preconditioner — two triangular solves)
+ *         s₀ = z₀
+ *         σ₀ = r₀ · z₀
+ *
+ *     3.  For k = 0, 1, …, max_iter-1:
+ *             A·sₖ
+ *             α = σₖ / (sₖ · A·sₖ)
+ *             p ← p + α·sₖ
+ *             r ← r - α·A·sₖ
+ *             z ← M⁻¹ · r
+ *             σₖ₊₁ = r · z
+ *             β = σₖ₊₁ / σₖ
+ *             s ← z + β·s
+ *
+ * Preconditioner apply is a forward sweep (L·y = r) followed by a backward
+ * sweep (Lᵀ·z = y). Both sweeps are O(N) and inherently sequential — they're
+ * the hot path that prevents MIC-PCG from parallelizing onto a GPU without
+ * substantial reformulation. On single-thread JS that's not a concern.
+ *
+ * Solid cells (mask = 0) are excluded from the system: their pressure stays at
+ * whatever it was (typically 0), their entries in r, z, s, As stay 0, and they
+ * contribute nothing to dot products.
+ *
+ * @param {Float32Array|Float16Array} pressure  Mutated in place. Pre-fill with 0
+ *     or with the previous step's solution to warm-start.
+ * @param {Float32Array|Float16Array} divergence  From `v3_grid_compute_divergence`.
+ * @param {number} res_x
+ * @param {number} res_y
+ * @param {number} res_z
+ * @param {number} max_iterations  Cap. Converged early-exits via implicit-zero
+ *     dot product (sigma reaches 0 or numerical noise).
+ * @param {Uint8Array} neighbour_mask  From `v3_grid_compute_solid_neighbour_mask`.
+ * @param {Float32Array} scratch_r  Length ≥ rx*ry*rz. Residual.
+ * @param {Float32Array} scratch_z  Length ≥ rx*ry*rz. Preconditioned residual.
+ * @param {Float32Array} scratch_s  Length ≥ rx*ry*rz. Search direction.
+ * @param {Float32Array} scratch_As  Length ≥ rx*ry*rz. A applied to s.
+ * @param {Float32Array} scratch_precon  Length ≥ rx*ry*rz. Preconditioner
+ *     diagonal (1/sqrt(e_c) per fluid cell, 0 for solid).
+ */
+export function v3_grid_solve_pressure_pcg(pressure: Float32Array | Float16Array, divergence: Float32Array | Float16Array, res_x: number, res_y: number, res_z: number, max_iterations: number, neighbour_mask: Uint8Array, scratch_r: Float32Array, scratch_z: Float32Array, scratch_s: Float32Array, scratch_As: Float32Array, scratch_precon: Float32Array): void;
+//# sourceMappingURL=v3_grid_solve_pressure_pcg.d.ts.map

package/src/engine/physics/fluid/solver/v3_grid_solve_pressure_pcg.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"v3_grid_solve_pressure_pcg.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/fluid/solver/v3_grid_solve_pressure_pcg.js"],"names":[],"mappings":"AAuCA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA0FG;AACH,qDAhBW,YAAY,eAAa,cAEzB,YAAY,eAAa,SACzB,MAAM,SACN,MAAM,SACN,MAAM,kBACN,MAAM,kBAEN,UAAU,aACV,YAAY,aACZ,YAAY,aACZ,YAAY,cACZ,YAAY,kBACZ,YAAY,QAuNtB"}

package/src/engine/physics/fluid/solver/v3_grid_solve_pressure_pcg.js

@@ -0,0 +1,424 @@
+import { assert } from "../../../../core/assert.js";
+
+/**
+ * Popcount table for the 6-bit neighbour mask — same encoding used by
+ * {@link v3_grid_solve_pressure}. Indexed by the mask byte (0-63), value is the
+ * SOR / Laplacian denominator = number of fluid neighbours.
+ *
+ * @type {Uint8Array}
+ */
+const POPCOUNT_6 = (function () {
+    const t = new Uint8Array(64);
+    for (let i = 0; i < 64; i++) {
+        let c = 0;
+        for (let b = 0; b < 6; b++) if (i & (1 << b)) c++;
+        t[i] = c;
+    }
+    return t;
+})();
+
+/**
+ * MIC(0) modification weight. Bridson's recommendation is 0.97; the factor scales
+ * how much "would-have-been-fill-in" we re-add onto the diagonal. Lower → closer
+ * to plain IC(0). Higher → stronger preconditioning but riskier (can produce a
+ * non-SPD matrix). 0.97 is the canonical sweet spot from the literature.
+ *
+ * @type {number}
+ */
+const MIC_TAU = 0.97;
+
+/**
+ * Diagonal safeguard threshold. If the computed Cholesky diagonal element falls
+ * below `MIC_SIGMA * A_diag`, we discard the IC factorization for that cell and
+ * fall back to `e = A_diag` (i.e. Jacobi for that cell). Prevents `1/sqrt(small)`
+ * from blowing up.
+ *
+ * @type {number}
+ */
+const MIC_SIGMA = 0.25;
+
+/**
+ * Pressure Poisson solver: Modified Incomplete Cholesky preconditioned Conjugate
+ * Gradient — MIC(0)-PCG.
+ *
+ * Solves `A * p = -div(v)` where A is the 7-point discrete Laplacian over fluid
+ * cells (same sign convention as {@link v3_grid_solve_pressure} — that
+ * function's SOR update is exactly the splitting `A * p = -div`). Per cell:
+ *
+ *     A[c, c]  = number of fluid neighbours (= popcount(neighbour_mask[c]))
+ *     A[c, c'] = -1 if c' is a fluid neighbour of c, else 0
+ *
+ * PCG converges in roughly `O(√κ)` iterations where κ is the spectral condition
+ * number of `M⁻¹A`. The MIC(0) preconditioner reduces κ from `O(N²)` (raw
+ * Laplacian) to `O(N)`, so a single PCG iter does a lot more useful work than
+ * a single SOR sweep.
+ *
+ * **Empirical finding (V8 / Node, single-thread, this implementation).** Each
+ * PCG iter involves ~8 separate per-cell passes (As compute, axpy×2,
+ * mean-subtract, fwd+bwd triangular solves, dot, s update) vs SOR's 2. In
+ * native code each pass is bandwidth-bound and per-iter ratio approaches the
+ * textbook 2× — yielding the canonical 1.5–2× wall-time win for PCG. In V8,
+ * per-pass loop overhead dominates; the actual per-iter ratio is closer to
+ * 4-6× and PCG ends up SLOWER than SOR at iso-quality on production grids:
+ *
+ *     res=64:  SOR  16 iter  /  75 ms,  max|div| 3.09e-1
+ *              PCG   8 iter  / 181 ms,  max|div| 3.72e-3   (PCG 2.4× slower)
+ *
+ *     res=128: SOR  32 iter  / 862 ms,  max|div| 8.74e-1
+ *              PCG   8 iter  /1452 ms,  max|div| 5.65e-3   (PCG 1.7× slower)
+ *
+ * (Reproduce via `bench: MIC-PCG vs SOR` in bench.spec.js.)
+ *
+ * Where PCG still wins: **convergence depth**. At the SAME iter count it
+ * produces dramatically lower residual divergence (84× better max|div| at
+ * 64³, 247× at 128³). If you need quality below the cell-centered operator
+ * floor SOR plateaus at — e.g. quantitative pressure inspection, or
+ * extreme-impulse scenes where the SOR floor is visible — PCG is the answer.
+ * For visual-fluids steady state, **leave the default at SOR**.
+ *
+ * If this code is ever ported to WASM SIMD or WebGPU the perf comparison
+ * flips: per-iter overhead becomes negligible in those environments and the
+ * theoretical 1.5–2× PCG win re-emerges. Worth re-running the bench then.
+ *
+ * Algorithm (Bridson "Fluid Simulation for Computer Graphics" §5.6, Saad
+ * §10.2):
+ *
+ *     1.  build_preconditioner: walk fluid cells in lex order, computing
+ *         precon[c] = 1 / sqrt(e[c]) where e[c] is the modified Cholesky
+ *         diagonal. Backward neighbours (-x, -y, -z) contribute to the
+ *         subtraction.
+ *
+ *     2.  r₀ = -div - A * p₀     (initial residual; p₀ is the warm-start)
+ *         z₀ = M⁻¹ * r₀          (apply preconditioner — two triangular solves)
+ *         s₀ = z₀
+ *         σ₀ = r₀ · z₀
+ *
+ *     3.  For k = 0, 1, …, max_iter-1:
+ *             A·sₖ
+ *             α = σₖ / (sₖ · A·sₖ)
+ *             p ← p + α·sₖ
+ *             r ← r - α·A·sₖ
+ *             z ← M⁻¹ · r
+ *             σₖ₊₁ = r · z
+ *             β = σₖ₊₁ / σₖ
+ *             s ← z + β·s
+ *
+ * Preconditioner apply is a forward sweep (L·y = r) followed by a backward
+ * sweep (Lᵀ·z = y). Both sweeps are O(N) and inherently sequential — they're
+ * the hot path that prevents MIC-PCG from parallelizing onto a GPU without
+ * substantial reformulation. On single-thread JS that's not a concern.
+ *
+ * Solid cells (mask = 0) are excluded from the system: their pressure stays at
+ * whatever it was (typically 0), their entries in r, z, s, As stay 0, and they
+ * contribute nothing to dot products.
+ *
+ * @param {Float32Array|Float16Array} pressure  Mutated in place. Pre-fill with 0
+ *     or with the previous step's solution to warm-start.
+ * @param {Float32Array|Float16Array} divergence  From `v3_grid_compute_divergence`.
+ * @param {number} res_x
+ * @param {number} res_y
+ * @param {number} res_z
+ * @param {number} max_iterations  Cap. Converged early-exits via implicit-zero
+ *     dot product (sigma reaches 0 or numerical noise).
+ * @param {Uint8Array} neighbour_mask  From `v3_grid_compute_solid_neighbour_mask`.
+ * @param {Float32Array} scratch_r  Length ≥ rx*ry*rz. Residual.
+ * @param {Float32Array} scratch_z  Length ≥ rx*ry*rz. Preconditioned residual.
+ * @param {Float32Array} scratch_s  Length ≥ rx*ry*rz. Search direction.
+ * @param {Float32Array} scratch_As  Length ≥ rx*ry*rz. A applied to s.
+ * @param {Float32Array} scratch_precon  Length ≥ rx*ry*rz. Preconditioner
+ *     diagonal (1/sqrt(e_c) per fluid cell, 0 for solid).
+ */
+export function v3_grid_solve_pressure_pcg(
+    pressure, divergence,
+    res_x, res_y, res_z,
+    max_iterations,
+    neighbour_mask,
+    scratch_r, scratch_z, scratch_s, scratch_As, scratch_precon
+) {
+    const cells = res_x * res_y * res_z;
+
+    assert.notEqual(pressure, divergence, "pressure must not alias divergence");
+    assert.greaterThanOrEqual(pressure.length, cells, "pressure covers grid");
+    assert.greaterThanOrEqual(divergence.length, cells, "divergence covers grid");
+    assert.greaterThanOrEqual(neighbour_mask.length, cells, "neighbour_mask covers grid");
+    assert.greaterThanOrEqual(scratch_r.length, cells, "scratch_r covers grid");
+    assert.greaterThanOrEqual(scratch_z.length, cells, "scratch_z covers grid");
+    assert.greaterThanOrEqual(scratch_s.length, cells, "scratch_s covers grid");
+    assert.greaterThanOrEqual(scratch_As.length, cells, "scratch_As covers grid");
+    assert.greaterThanOrEqual(scratch_precon.length, cells, "scratch_precon covers grid");
+    assert.isNonNegativeInteger(max_iterations, "max_iterations");
+
+    if (max_iterations === 0) {
+        return;
+    }
+
+    const rx = res_x;
+    const slice = res_x * res_y;
+
+    const precon = scratch_precon;
+    const r = scratch_r;
+    const z = scratch_z;
+    const s = scratch_s;
+    const As = scratch_As;
+
+    // Count fluid cells for the null-space projection (mean subtraction). With
+    // all-Neumann boundary conditions and no Dirichlet anchor, the discrete
+    // Laplacian has a 1-D null space (constant pressure). Plain (P)CG drifts
+    // along that direction — iterates can explode within ~10 sweeps even
+    // though the residual stays small in the orthogonal complement. Projecting
+    // r back onto the mean-zero subspace after every update keeps the search
+    // direction perpendicular to the null space and lets PCG converge as
+    // theory predicts.
+    //
+    // (Standard fluids practice — see Bridson §5.5. The alternative is to pin
+    // one cell to a Dirichlet value and exclude it from the system, but mean
+    // subtraction has the same effect with simpler bookkeeping.)
+    let fluid_count = 0;
+    for (let c = 0; c < cells; c++) {
+        if (neighbour_mask[c] !== 0) fluid_count++;
+    }
+    if (fluid_count === 0) {
+        return;
+    }
+
+    // ─── 1. Build MIC(0) preconditioner ─────────────────────────────────────
+    //
+    // Walk fluid cells in lex order; for each, compute the modified Cholesky
+    // diagonal e[c] from the backward (-x, -y, -z) fluid neighbours and store
+    // precon[c] = 1 / sqrt(e[c]). Solid / isolated cells keep precon = 0.
+    //
+    // The "modified" piece adds tau * (off-direction terms) back onto the
+    // diagonal — it compensates for fill-in that plain IC(0) drops, and makes
+    // PCG converge in O(√N) instead of O(N²/³).
+    precon.fill(0);
+    for (let c = 0; c < cells; c++) {
+        const mask = neighbour_mask[c];
+        if (mask === 0) {
+            continue;
+        }
+        const a_diag = POPCOUNT_6[mask];
+        let e = a_diag;
+
+        if (mask & 1) {  // -x backward neighbour is fluid
+            const c_prev = c - 1;
+            const p_prev = precon[c_prev];
+            const p_prev_sq = p_prev * p_prev;
+            // (A[c, c_prev] * precon[c_prev])^2 = precon_prev^2 since A = -1.
+            e -= p_prev_sq;
+            // Modification: tau * A[c, c_prev] * (off-direction A entries from c_prev) * precon_prev^2.
+            // A[c, c_prev] = -1. Off-directions from c_prev pointing away from c
+            // are +y (bit 3 of c_prev's mask) and +z (bit 5).
+            const m_prev = neighbour_mask[c_prev];
+            const off = ((m_prev >> 3) & 1) + ((m_prev >> 5) & 1);
+            // Contribution: tau * (-1) * (-(off)) * precon_prev^2 = tau * off * precon_prev^2
+            e -= MIC_TAU * off * p_prev_sq;
+        }
+        if (mask & 4) {  // -y
+            const c_prev = c - rx;
+            const p_prev = precon[c_prev];
+            const p_prev_sq = p_prev * p_prev;
+            e -= p_prev_sq;
+            const m_prev = neighbour_mask[c_prev];
+            // Off-directions from c_prev: +x (bit 1), +z (bit 5).
+            const off = ((m_prev >> 1) & 1) + ((m_prev >> 5) & 1);
+            e -= MIC_TAU * off * p_prev_sq;
+        }
+        if (mask & 16) {  // -z
+            const c_prev = c - slice;
+            const p_prev = precon[c_prev];
+            const p_prev_sq = p_prev * p_prev;
+            e -= p_prev_sq;
+            const m_prev = neighbour_mask[c_prev];
+            // Off-directions from c_prev: +x (bit 1), +y (bit 3).
+            const off = ((m_prev >> 1) & 1) + ((m_prev >> 3) & 1);
+            e -= MIC_TAU * off * p_prev_sq;
+        }
+
+        // Safeguard: if e dropped below sigma*A_diag, the factorization is
+        // becoming non-SPD-friendly; fall back to plain Jacobi for this cell.
+        if (e < MIC_SIGMA * a_diag) {
+            e = a_diag;
+        }
+        precon[c] = 1 / Math.sqrt(e);
+    }
+
+    // ─── 2. r = -div - A * pressure  (initial residual) ─────────────────────
+
+    for (let c = 0; c < cells; c++) {
+        const mask = neighbour_mask[c];
+        if (mask === 0) {
+            r[c] = 0;
+            continue;
+        }
+        let Ap = POPCOUNT_6[mask] * pressure[c];
+        if (mask & 1)  Ap -= pressure[c - 1];
+        if (mask & 2)  Ap -= pressure[c + 1];
+        if (mask & 4)  Ap -= pressure[c - rx];
+        if (mask & 8)  Ap -= pressure[c + rx];
+        if (mask & 16) Ap -= pressure[c - slice];
+        if (mask & 32) Ap -= pressure[c + slice];
+        r[c] = -divergence[c] - Ap;
+    }
+    subtract_mean_fluid(r, neighbour_mask, cells, fluid_count);
+
+    // ─── 3. z = M⁻¹ * r, s = z, sigma = r · z ───────────────────────────────
+
+    apply_preconditioner(r, z, precon, neighbour_mask, cells, rx, slice);
+
+    let sigma = 0;
+    for (let c = 0; c < cells; c++) {
+        s[c] = z[c];
+        sigma += r[c] * z[c];
+    }
+
+    if (sigma === 0) {
+        // Initial residual was already zero (or pathological). Either way,
+        // nothing to do.
+        return;
+    }
+
+    // ─── 4. PCG outer loop ──────────────────────────────────────────────────
+
+    for (let iter = 0; iter < max_iterations; iter++) {
+
+        // As = A * s, accumulating s · As in the same pass.
+        let s_dot_As = 0;
+        for (let c = 0; c < cells; c++) {
+            const mask = neighbour_mask[c];
+            if (mask === 0) {
+                As[c] = 0;
+                continue;
+            }
+            let val = POPCOUNT_6[mask] * s[c];
+            if (mask & 1)  val -= s[c - 1];
+            if (mask & 2)  val -= s[c + 1];
+            if (mask & 4)  val -= s[c - rx];
+            if (mask & 8)  val -= s[c + rx];
+            if (mask & 16) val -= s[c - slice];
+            if (mask & 32) val -= s[c + slice];
+            As[c] = val;
+            s_dot_As += s[c] * val;
+        }
+
+        if (s_dot_As === 0) {
+            // Degenerate search direction; stop.
+            break;
+        }
+
+        const alpha = sigma / s_dot_As;
+
+        // pressure += alpha * s
+        // r        -= alpha * As
+        for (let c = 0; c < cells; c++) {
+            pressure[c] += alpha * s[c];
+            r[c]        -= alpha * As[c];
+        }
+        // Project r back onto the mean-zero (range(A)) subspace. Round-off
+        // accumulates a constant component each iter; without this, alpha
+        // explodes within ~8 iters once s aligns with the null space.
+        subtract_mean_fluid(r, neighbour_mask, cells, fluid_count);
+
+        // z = M⁻¹ * r
+        apply_preconditioner(r, z, precon, neighbour_mask, cells, rx, slice);
+
+        // sigma_new = r · z
+        let sigma_new = 0;
+        for (let c = 0; c < cells; c++) {
+            sigma_new += r[c] * z[c];
+        }
+
+        if (sigma_new === 0) {
+            break;
+        }
+
+        const beta = sigma_new / sigma;
+
+        // s = z + beta * s
+        for (let c = 0; c < cells; c++) {
+            s[c] = z[c] + beta * s[c];
+        }
+
+        sigma = sigma_new;
+    }
+}
+
+/**
+ * Apply the MIC(0) preconditioner: solve M · z = r where M = L · Lᵀ.
+ *
+ * Two sequential sweeps:
+ *   - forward (L · y = r): walk fluid cells in lex order, using backward
+ *     fluid neighbours' already-computed y values.
+ *   - backward (Lᵀ · z = y): walk in reverse lex order, using forward
+ *     fluid neighbours' already-computed z values.
+ *
+ * Both write into `z` in place; the forward pass stores y in z, the backward
+ * pass overwrites with the final z. Solid cells stay at 0 throughout.
+ *
+ * For our normalized Laplacian (A = -1 off-diagonal, popcount diagonal), the
+ * L factor has L[c, c-1] = -precon[c-1] etc., L[c, c] = 1/precon[c], so each
+ * triangular solve degenerates to ~4 floating-point ops per cell.
+ *
+ * @param {Float32Array} r
+ * @param {Float32Array} z
+ * @param {Float32Array} precon
+ * @param {Uint8Array} mask_array
+ * @param {number} cells
+ * @param {number} rx
+ * @param {number} slice
+ */
+/**
+ * Subtract the mean (over fluid cells) from a buffer in place. Used to project
+ * a vector onto range(A) = mean-zero subspace; required for CG to converge on
+ * a system with a non-trivial null space (pure Neumann pressure Poisson).
+ *
+ * @param {Float32Array} v
+ * @param {Uint8Array} mask_array
+ * @param {number} cells
+ * @param {number} fluid_count
+ */
+function subtract_mean_fluid(v, mask_array, cells, fluid_count) {
+    let sum = 0;
+    for (let c = 0; c < cells; c++) {
+        if (mask_array[c] !== 0) sum += v[c];
+    }
+    const mean = sum / fluid_count;
+    for (let c = 0; c < cells; c++) {
+        if (mask_array[c] !== 0) v[c] -= mean;
+    }
+}
+
+function apply_preconditioner(r, z, precon, mask_array, cells, rx, slice) {
+    // Forward solve L · y = r. Store y in z (we won't read z[c'] for c' > c).
+    for (let c = 0; c < cells; c++) {
+        const mask = mask_array[c];
+        if (mask === 0) {
+            z[c] = 0;
+            continue;
+        }
+        let t = r[c];
+        // L[c, c-1] = -precon[c-1] when -x neighbour fluid → subtracting L·y is
+        // adding precon[c-1] * y[c-1].
+        if (mask & 1)  t += precon[c - 1]     * z[c - 1];
+        if (mask & 4)  t += precon[c - rx]    * z[c - rx];
+        if (mask & 16) t += precon[c - slice] * z[c - slice];
+        // L[c, c] = 1 / precon[c] → dividing by it is multiplying by precon[c].
+        z[c] = t * precon[c];
+    }
+
+    // Backward solve Lᵀ · z = y, in place. When we read z[c+1], z[c+rx],
+    // z[c+slice], those were written in this same backward pass (higher
+    // indices, processed first in reverse).
+    for (let c = cells - 1; c >= 0; c--) {
+        const mask = mask_array[c];
+        if (mask === 0) {
+            continue;
+        }
+        let t = z[c]; // = y[c] from forward pass
+        // L[c+1, c] = -precon[c] when c+1's -x neighbour (= c) is fluid, which
+        // is equivalent to "c's +x neighbour (= c+1) is fluid", i.e. mask & 2.
+        if (mask & 2)  t += precon[c] * z[c + 1];
+        if (mask & 8)  t += precon[c] * z[c + rx];
+        if (mask & 32) t += precon[c] * z[c + slice];
+        z[c] = t * precon[c];
+    }
+}