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[All] Introduce integration schemes - #6117

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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
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  74e2f63
- Update BDFIntegrationScheme.cpp
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  141ed46
- Added one more level of inheritance whith implicit/explicit integrations cheme
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  278b051
- Add Static solver
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  8c51b67
- Add linear ùmultistep methods
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  45fe6ac
- Bring back forward solvers
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  ee82a15
- Add explicit solvers
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  9da1a65
- Rename implicit solvers using IntegrationScheme
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  c715b1f
- Fix part of instability in freemotion + remove unnecessary clear
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  8eb11ed
- Better usage of vop and mop
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  058dfc2
- Clean and add comments
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  826010d
- Fix instability by computing RHS before LHS
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  7983758
- Add first order capability to velocity-based IS
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  6641858
- changed iteration parameter into a bool instead of a number
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  43b6a0b
- Fix condition for rayleigh damping in the RHS
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  c7e213d
- Implement the trapezoid scheme
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  3807a7e
- Refactor IS order getter to explicit the time characteristic
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  1528ebf
- Use right mop and vop in static solver
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  5e99b23
- Rename residue estimation method
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  dbc0b51
- Fix compilation
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  0de0186
- Add Newton solver to StaticEquilibriumIS
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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
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  e1fe9dc
- Add compat layer for both C++ and CMake
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  3e18339
- <Remove s from IntegrationSchemeS
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  d6cc7f9
- Sort compat file more properly
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  401126f
- Add new feature to alway move forward in newton + fir one unit test
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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
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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
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  12aa9c0
- Fix some regression tests
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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
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  41445eb
- Fix LHS for first order + fix diffusion test
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  39996f8
- Fix strange behavior with interaciton springs
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  be85fc5
- Add data in velocityBasedIS to compute acceleration at the end of timestep
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  fd30330
- Stop propagating old states
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  2ce2b95
- Take @alxbilger comments into account
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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
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  c81ece3
- Mdify componant change messahe for NewtonRaphsonSolver
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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
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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
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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
  committed
  773ad56
Commits on Sep 24, 2026
- Merge branch 'master' into 26_05_introduce_integration_schemes
  hugtalbot
  authored
  648c55d

Commits

Commits on Sep 21, 2026

Commits on Sep 24, 2026