sofa-framework · hugtalbot · Sep 24, 2026 · Apr 29, 2026 · Apr 29, 2026 · Apr 29, 2026
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h
@@ -30,7 +30,7 @@ SOFA_HEADER_DEPRECATED_NOT_REPLACED("v26.06", "v26.12")
 #include <sofa/core/MultiVecId.h>
 #include <sofa/core/VecId.h>
 #include <sofa/core/behavior/BaseConstraintCorrection.h>
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/ConstraintParams.h>
 #include <sofa/core/fwd.h>
 

diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp
@@ -232,14 +232,6 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
 
     dmsg_info() << "beginVisitor performed - SolveVisitor for freeMotion is called" ;
 
-    // Mapping geometric stiffness coming from previous lambda.
-    {
-        SCOPED_TIMER("lambdaMultInvDt");
-        MechanicalVOpVisitor lambdaMultInvDt(params, cparams.lambda(), sofa::core::ConstMultiVecId::null(), cparams.lambda(), 1.0 / dt);
-        lambdaMultInvDt.setMapped(true);
-        node->executeVisitor(&lambdaMultInvDt);
-    }
-
     {
         SCOPED_TIMER("MechanicalComputeGeometricStiffness");
         MechanicalComputeGeometricStiffness geometricStiffnessVisitor(&mop.mparams, cparams.lambda());

diff --git a/Sofa/Component/CMakeLists.txt b/Sofa/Component/CMakeLists.txt
@@ -5,15 +5,16 @@ set(SOFACOMPONENT_SOURCE_DIR "src/sofa/component")
 
 sofa_add_subdirectory_modules(SOFACOMPONENT_TARGETS
     DIRECTORIES
-    ODESolver
     IO
     Playback
     SceneUtility
     Topology
     Visual
     LinearSystem
+    IntegrationScheme
     LinearSolver
     Mass
+    ODESolver
     Diffusion
     Mapping
     StateContainer

diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/CMakeLists.txt b/Sofa/Component/Constraint/Lagrangian/Correction/CMakeLists.txt
@@ -26,13 +26,13 @@ set(SOURCE_FILES
 sofa_find_package(Sofa.Simulation.Core REQUIRED)
 sofa_find_package(Sofa.Component.Mass REQUIRED) # UncoupledCC needs UniformMass
 sofa_find_package(Sofa.Component.LinearSolver.Iterative REQUIRED) # PrecomputedCC needs CGLinearSolver
-sofa_find_package(Sofa.Component.ODESolver.Backward REQUIRED) # PrecomputedCC needs EulerSolver
+sofa_find_package(Sofa.Component.IntegrationScheme.Backward REQUIRED) # PrecomputedCC needs EulerSolver
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Mass)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.LinearSolver.Iterative)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.ODESolver.Backward)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.IntegrationScheme.Backward)
 
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}

diff --git a/...aint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in b/...aint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in
@@ -7,7 +7,7 @@ find_package(Sofa.Config QUIET REQUIRED)
 sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
 sofa_find_package(Sofa.Component.Mass QUIET REQUIRED)
 sofa_find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED)
-sofa_find_package(Sofa.Component.ODESolver.Backward QUIET REQUIRED)
+sofa_find_package(Sofa.Component.IntegrationScheme.Backward QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")

diff --git a/...ction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp b/...ction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
@@ -23,7 +23,7 @@
 
 #include <sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h>
 #include <sofa/simulation/mechanicalvisitor/MechanicalIntegrateConstraintVisitor.h>
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/core/behavior/ConstraintSolver.h>
 #include <sofa/core/behavior/LinearSolver.h>
@@ -94,10 +94,10 @@ void GenericConstraintCorrection::init()
     {
         msg_info() << "Link \"ODESolver\" to the desired ODE solver should be set to ensure right behavior." << msgendl
                    << "First ODESolver found in current context will be used.";
-        l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(BaseContext::Local) );
+        l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(BaseContext::Local) );
         if (l_ODESolver.get() == nullptr)
         {
-            l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(BaseContext::SearchRoot) );
+            l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(BaseContext::SearchRoot) );
         }
     }
 
@@ -138,7 +138,7 @@ void GenericConstraintCorrection::addComplianceInConstraintSpace(const Constrain
     if (!l_ODESolver.get()) return;
     const SReal complianceFactor = d_complianceFactor.getValue();
 
-    // use the OdeSolver to get the integration factor
+    // use the IntegrationScheme to get the integration factor
     SReal factor = BaseConstraintCorrection::correctionFactor(l_ODESolver.get(), cparams->constOrder());
     factor *= complianceFactor;
 

diff --git a/...rection/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h b/...rection/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h
@@ -111,7 +111,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API GenericConstraintCorre
     void resetContactForce() override;
 
     SingleLink<GenericConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_linearSolver; ///< Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix
-    SingleLink<GenericConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
+    SingleLink<GenericConstraintCorrection,  sofa::core::behavior::BaseIntegrationScheme, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
     Data< SReal > d_complianceFactor; ///< Factor applied to the position factor and velocity factor used to calculate compliance matrix
     Data< SReal > d_regularizationTerm; ///< add regularizationTerm*Id to W when solving for constraints
 

diff --git a/...on/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h b/...on/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h
@@ -24,7 +24,7 @@
 
 #include <sofa/core/behavior/ConstraintCorrection.h>
 
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/behavior/LinearSolver.h>
 
 #include <sofa/type/Mat.h>
@@ -95,7 +95,7 @@ class LinearSolverConstraintCorrection : public sofa::core::behavior::Constraint
     Data< bool > wire_optimization; ///< constraints are reordered along a wire-like topology (from tip to base)
     Data< SReal > d_regularizationTerm; ///< add regularization*Id to W when solving for constraints
     SingleLink<LinearSolverConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_linearSolver; ///< Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix
-    SingleLink<LinearSolverConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
+    SingleLink<LinearSolverConstraintCorrection,  sofa::core::behavior::BaseIntegrationScheme, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
 
     void verify_constraints();
 

diff --git a/.../src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl b/.../src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl
@@ -104,10 +104,10 @@ void LinearSolverConstraintCorrection<DataTypes>::init()
     {
         msg_info() << "Link \"ODESolver\" to the desired ODE solver should be set to ensure right behavior." << msgendl
                    << "First ODESolver found in current context will be used.";
-        l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(sofa::core::objectmodel::BaseContext::Local) );
+        l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(sofa::core::objectmodel::BaseContext::Local) );
         if (l_ODESolver.get() == nullptr)
         {
-            l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(sofa::core::objectmodel::BaseContext::SearchRoot) );
+            l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(sofa::core::objectmodel::BaseContext::SearchRoot) );
         }
     }
 
@@ -192,7 +192,7 @@ void LinearSolverConstraintCorrection<DataTypes>::addComplianceInConstraintSpace
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal factor = core::behavior::BaseConstraintCorrection::correctionFactor(l_ODESolver.get(), cparams->constOrder());
 
     // J is read from the mechanical state and converted to m_constraintJacobian
@@ -373,10 +373,10 @@ void LinearSolverConstraintCorrection<DataTypes>::applyContactForce(const linear
 
     //TODO: tell the solver not to recompute the matrix
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal positionFactor = l_ODESolver.get()->getPositionIntegrationFactor();
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal velocityFactor = l_ODESolver.get()->getVelocityIntegrationFactor();
 
     Data<VecCoord>& xData     = *mstate->write(core::vec_id::write_access::position);
@@ -689,7 +689,7 @@ void LinearSolverConstraintCorrection<DataTypes>::getBlockDiagonalCompliance(lin
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal factor = l_ODESolver.get()->getPositionIntegrationFactor(); //*m_ODESolver->getPositionIntegrationFactor(); // dt*dt
 
     const unsigned int numDOFs = mstate->getSize();

diff --git a/...ion/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.h b/...ion/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.h
@@ -21,16 +21,14 @@
 ******************************************************************************/
 #pragma once
 #include <sofa/component/constraint/lagrangian/correction/config.h>
-
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/behavior/ConstraintCorrection.h>
-#include <sofa/component/odesolver/backward/EulerImplicitSolver.h>
 #include <sofa/core/behavior/LinearSolver.h>
 #include <sofa/core/objectmodel/DataFileName.h>
-
 #include <sofa/linearalgebra/FullMatrix.h>
-
 #include <sofa/type/Mat.h>
 #include <sofa/type/Vec.h>
+#include <sofa/component/integrationscheme/backward/EulerImplicitIntegrationScheme.h>
 
 namespace sofa::component::constraint::lagrangian::correction
 {
@@ -69,7 +67,7 @@ class PrecomputedConstraintCorrection : public sofa::core::behavior::ConstraintC
     sofa::core::objectmodel::DataFileName d_fileCompliance; ///< Precomputed compliance matrix data file
     Data<std::string> d_fileDir; ///< If not empty, the compliance will be saved in this repertory
 
-    SingleLink<PrecomputedConstraintCorrection, sofa::component::odesolver::backward::EulerImplicitSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_odeSolver; ///< Link towards the EulerImplicit solver used during the compliance precomputation. If unset, the first OdeSolver found in the current context is used.
+    SingleLink<PrecomputedConstraintCorrection, sofa::component::integrationscheme::backward::EulerImplicitIntegrationScheme, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_odeSolver; ///< Link towards the EulerImplicit solver used during the compliance precomputation. If unset, the first OdeSolver found in the current context is used.
     SingleLink<PrecomputedConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_linearSolver; ///< Link towards the linear solver used during the compliance precomputation. If unset, the first LinearSolver found in the current context is used.
 
 protected:
@@ -197,6 +195,15 @@ class PrecomputedConstraintCorrection : public sofa::core::behavior::ConstraintC
     void computeDx(Data<VecDeriv>& dx, const Data< VecDeriv > &f, const std::list< int > &activeDofs);
 
     std::list< int > m_activeDofs;
+
+    /// Integration scheme found in the context, used to scale the compliance and the corrections
+    sofa::core::behavior::BaseIntegrationScheme* m_pIntegrationScheme { nullptr };
+
+    /// Position integration factor of the integration scheme (falls back to the implicit Euler factor if no scheme was found)
+    SReal getPositionIntegrationFactor() const;
+
+    /// Velocity integration factor of the integration scheme (falls back to the implicit Euler factor if no scheme was found)
+    SReal getVelocityIntegrationFactor() const;
 };