[All] Introduce integration schemes - #6117

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bakpaul:26_05_introduce_integration_schemes

Commits on Sep 8, 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

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d9e3cbe
Remove ODESolvers

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d99e167
Fix last remnence of ODE + add BDF that doesn't work

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03ce2ee
Fix EulerImplicit + partially fix BDF, at least it matches Alex implem

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25ea0a7
Update BDFIntegrationScheme.cpp

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95c0f95
Added one more level of inheritance whith implicit/explicit integrations cheme

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05974d3
Add Static solver

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a6336b1
Add linear ùmultistep methods

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39c4740
Bring back forward solvers

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52a4fc2
Add explicit solvers

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1661f3b
Rename implicit solvers using IntegrationScheme

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d09a53e
Fix part of instability in freemotion + remove unnecessary clear

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b3a214a
Better usage of vop and mop

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1b5d276
Clean and add comments

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4f38bf9
Fix instability by computing RHS before LHS

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03745b6
Add first order capability to velocity-based IS

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2ef4b34
changed iteration parameter into a bool instead of a number

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62b94ba
Fix condition for rayleigh damping in the RHS

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8d2381d
Implement the trapezoid scheme

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3b8f6ff
Refactor IS order getter to explicit the time characteristic

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e9b67c3
Use right mop and vop in static solver

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7402333
Rename residue estimation method

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b976fb5
Fix compilation

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5b20745
Add Newton solver to StaticEquilibriumIS

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764317c
fix typo in comment

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1dbf9cd
Fix scenes

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962bcea
Apply changes from #6087

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bf75461
Fix compilation

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3208398
fix more scenes

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945d468
Fix compilation

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4b10ac0
Fix requiredPlugins

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efcf365
Change base class name according to review

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f14fe2b
Add compat layer for both C++ and CMake

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116fc7f
<Remove s from IntegrationSchemeS

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c8412eb
Sort compat file more properly

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4517f33
Add new feature to alway move forward in newton + fir one unit test

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991de11
Fix module name when loading plugin

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8feefd2
Fix CG crash

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ce4657d
Explicit are not linearSolver accessor by default because one is not always needed

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620832b
Remove explicit solvers under implicit ones because they are prune anyway and they perturbe the constraint correction

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915c98c
Fix some scenes

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ded1163
Fix another scene

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d48a9f0
Fix a bunch on scenes

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f494749
Fix some regression tests

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27df90c
Fix condition in VelBAsed

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0410b12
Fix conditions

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65bbe06
REVERT previous commit on some unwanted changes

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a95b8d6
Fix some regression tests

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4fee97e
Fix some unit tests

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cbb3927
Fix LHS for first order + fix diffusion test

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6ad3541
Fix strange behavior with interaciton springs

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406673f
Add data in velocityBasedIS to compute acceleration at the end of timestep

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a2fae00
Stop propagating old states

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138c071
Take @alxbilger comments into account

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9796593
Take @alxbilger comments into account

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097232d
Refactor all comment/indications of API methods and base classes

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e02ba1c
Mdify componant change messahe for NewtonRaphsonSolver

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2e65334
Update unit test values for LCPForceFeedback

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bd3703e
Try to fix Windows compilation

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72b8f17
Add deterministic doc link, working once teh documentation has been updated

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35c6d0d
Fix newly introduced scene

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9e3323e
Initialize properly attribute

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6ecaee3
Fix link name in EulerExplicit to ensure backward compat

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cbc5cc4
Avoid overflow

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7d8e35c
Add early return for order overflow

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2010472
fix uncompiled code

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e1ef9ed
Various small fixes

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92e88e3
Now lambda are real forces and not impulsion anymore

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ccb465e
Add propagation of states after updating them to ensure mapped FF will take into account the Newton step

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19e7fb8
Fix armijo condition as it was mixing energy-based cost funcction definition and residual-based one

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10bb2c6
Replace the test on time with a state test to enable reloading of scenes

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56c0427
Fix novmultiop compilaiton

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d0942af
FIX Typos

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6226bb1
Refactorize the compatibility layer to still offer the libs Sofa.Component.ODESolver* but throw warnings when used

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f98a7a0
Add warning concerning the force now being real forces in LCPForceFeedback

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17e888d
Change logic to avoid unnecessary computation at first timestep + compute real initial acceleration in Newmark-beta

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1034149
WIP try to understand why damping is not right

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312f8e2
Fix unit tests

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801d837
Fix incoherencies in Uncouples constraint corrections

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8b8cd38
Add warning to tell user to update their compliance value

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4cd35af
Fix some factors in explicit schemes

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f0e051c
Fix lambda being impulsion in precomputed

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d5f0b1e
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…

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63791df
Uncoupled now throws info not warning

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0f4fa8d
Fix last regression on SofaScene

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4692959

Commits on Sep 9, 2026

Fix first order in term of solving a first order ODE instead of removing inertia effect
bakpaul
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e9c3974

Commits on Sep 16, 2026

Merge branch 'master' into 26_05_introduce_integration_schemes
bakpaul
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8199aa4
Apply batched suggestions from code review

bakpaul
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alxbilger
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0b85117

Commits on Sep 17, 2026

Merge branch 'master' into 26_05_introduce_integration_schemes
fredroy
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1bba7d9