[All] Introduce integration schemes - #6117

Merged

hugtalbot merged 90 commits into

sofa-framework:masterfrom

bakpaul:26_05_introduce_integration_schemes

Sep 24, 2026

Commits on Sep 21, 2026

Introduce base integration schemes + acceleration based and velocity based IS and some implementaiton of final IS. Still need to make the solve visitor use these IS
bakpaul
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88df164
Remove ODESolvers
bakpaul
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4009edb
Fix last remnence of ODE + add BDF that doesn't work
bakpaul
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93acafe
Fix EulerImplicit + partially fix BDF, at least it matches Alex implem
bakpaul
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74e2f63
Update BDFIntegrationScheme.cpp
bakpaul
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141ed46
Added one more level of inheritance whith implicit/explicit integrations cheme
bakpaul
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278b051
Add Static solver
bakpaul
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8c51b67
Add linear ùmultistep methods
bakpaul
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45fe6ac
Bring back forward solvers
bakpaul
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ee82a15
Add explicit solvers
bakpaul
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9da1a65
Rename implicit solvers using IntegrationScheme
bakpaul
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c715b1f
Fix part of instability in freemotion + remove unnecessary clear
bakpaul
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8eb11ed
Better usage of vop and mop
bakpaul
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058dfc2
Clean and add comments
bakpaul
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826010d
Fix instability by computing RHS before LHS
bakpaul
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7983758
Add first order capability to velocity-based IS
bakpaul
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6641858
changed iteration parameter into a bool instead of a number
bakpaul
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43b6a0b
Fix condition for rayleigh damping in the RHS
bakpaul
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c7e213d
Implement the trapezoid scheme
bakpaul
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3807a7e
Refactor IS order getter to explicit the time characteristic
bakpaul
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1528ebf
Use right mop and vop in static solver
bakpaul
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5e99b23
Rename residue estimation method
bakpaul
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dbc0b51
Fix compilation
bakpaul
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0de0186
Add Newton solver to StaticEquilibriumIS
bakpaul
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56ffcea
fix typo in comment
bakpaul
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6bbda49
Fix scenes
bakpaul
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40a2b44
Apply changes from #6087

bakpaul
and
alxbilger
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39bd940
Fix compilation
bakpaul
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1b3323a
fix more scenes
bakpaul
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ba786b0
Fix compilation
bakpaul
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4c58c59
Fix requiredPlugins
bakpaul
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9192802
Change base class name according to review
bakpaul
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e1fe9dc
Add compat layer for both C++ and CMake
bakpaul
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3e18339
<Remove s from IntegrationSchemeS
bakpaul
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d6cc7f9
Sort compat file more properly
bakpaul
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401126f
Add new feature to alway move forward in newton + fir one unit test
bakpaul
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c6c0385
Fix module name when loading plugin
bakpaul
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25e7c5d
Fix CG crash
bakpaul
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811c5f4
Explicit are not linearSolver accessor by default because one is not always needed
bakpaul
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0c567b9
Remove explicit solvers under implicit ones because they are prune anyway and they perturbe the constraint correction
bakpaul
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b7a61db
Fix some scenes
bakpaul
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b29a60a
Fix another scene
bakpaul
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66d14a8
Fix a bunch on scenes
bakpaul
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12aa9c0
Fix some regression tests
bakpaul
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c3cacfc
Fix condition in VelBAsed
bakpaul
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80ec988
Fix conditions
bakpaul
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c878322
REVERT previous commit on some unwanted changes
bakpaul
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cc3ab34
Fix some regression tests
bakpaul
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e58801e
Fix some unit tests
bakpaul
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41445eb
Fix LHS for first order + fix diffusion test
bakpaul
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39996f8
Fix strange behavior with interaciton springs
bakpaul
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be85fc5
Add data in velocityBasedIS to compute acceleration at the end of timestep
bakpaul
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fd30330
Stop propagating old states
bakpaul
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2ce2b95
Take @alxbilger comments into account
bakpaul
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bbfdf9b
Take @alxbilger comments into account
bakpaul
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768b525
Refactor all comment/indications of API methods and base classes
bakpaul
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c81ece3
Mdify componant change messahe for NewtonRaphsonSolver
bakpaul
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38910dd
Update unit test values for LCPForceFeedback
bakpaul
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3f7af3b
Try to fix Windows compilation
bakpaul
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b826e81
Add deterministic doc link, working once teh documentation has been updated
bakpaul
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43a54f7
Fix newly introduced scene
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7295d55
Initialize properly attribute
bakpaul
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19a8c68
Fix link name in EulerExplicit to ensure backward compat
bakpaul
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5943400
Avoid overflow
bakpaul
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c8e4ee7
Add early return for order overflow
bakpaul
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7af9e6c
fix uncompiled code
bakpaul
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ce948aa
Various small fixes
bakpaul
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3fb9218
Now lambda are real forces and not impulsion anymore
bakpaul
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2006425
Add propagation of states after updating them to ensure mapped FF will take into account the Newton step
bakpaul
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118355f
Fix armijo condition as it was mixing energy-based cost funcction definition and residual-based one
bakpaul
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9e3389c
Replace the test on time with a state test to enable reloading of scenes
bakpaul
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f20b552
Fix novmultiop compilaiton
bakpaul
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c0f5ab6
FIX Typos
bakpaul
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84c2cf1
Refactorize the compatibility layer to still offer the libs Sofa.Component.ODESolver* but throw warnings when used
bakpaul
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3e39e75
Add warning concerning the force now being real forces in LCPForceFeedback
bakpaul
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4361099
Change logic to avoid unnecessary computation at first timestep + compute real initial acceleration in Newmark-beta
bakpaul
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dbf82cf
WIP try to understand why damping is not right
bakpaul
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8be0c88
Fix unit tests
bakpaul
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4286780
Fix incoherencies in Uncouples constraint corrections
bakpaul
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88cac6c
Add warning to tell user to update their compliance value
bakpaul
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552cee5
Fix some factors in explicit schemes
bakpaul
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dd3e467
Fix lambda being impulsion in precomputed
bakpaul
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17d3171
Rollback the propagation of states in the I as animation loops are already responsible for this. But it needs to be noted that for rigid mapping the propagation is wrong and the propagation assumes…
bakpaul
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f4d9331
Uncoupled now throws info not warning
bakpaul
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162cb5c
Fix last regression on SofaScene
bakpaul
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4ba33a1
Fix first order in term of solving a first order ODE instead of removing inertia effect
bakpaul
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96ebd4e
Apply batched suggestions from code review

bakpaul
and
alxbilger
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3a8fa53
Apply @alxbilger suggestion
bakpaul
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9558a65
Add option to go back to impulse-based computation
bakpaul
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773ad56

Commits on Sep 24, 2026

Merge branch 'master' into 26_05_introduce_integration_schemes
hugtalbot
authored
648c55d