Computational domains and grid generation
The shape of the computational domain is a cuboid as shown in Fig. 4. The inlet velocity at the front of the fluid domain was set to be equivalent to the glider velocity, 2 m/s. The pressure outlet at the end of the fluid domain was set to be 0 Pa. To reduce the computational cost, this simulation utilizes a symmetry plane in a xy-plane through the center of the glider. The wall condition was allocated to other surfaces of the fluid domain. Using the chord length at the center (ct) as the reference length, the domain is [-10ct, 15ct] m × [-10ct, 10ct] m × [0, 10ct] m with 2.3 million hexahedral cells. The glider is placed at the origin of the coordinates.