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[Core,IntegrationScheme] Replace legacy propagation by mapping-graph based propagation - #6334
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The reason a scene crashes with this PR: #6375 |
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And it (🤖) also detected that with the StaticEquilibrium:
With free motion, the Newton loop now updates freePosition but keeps computing forces at position. The residual never reflects the step, so the line search and convergence check are wrong. The fix is to call m_mop->mparams.setX(m_xResult) once in doSetupIntegrationStep, as the Velocity and Acceleration schemes already do.
and not detected in the tests because there is not scene using StaticEquilibrium with Freemotion.
(so maybe it does not make sense to use Freemotion with StaticEquilibrium 🤔 ?)
…based propagation
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Following the deprecation of the legacy propagation functions (#6312), they are replaced by a mapping-graph aware function, found in
DifferentialOperations.[with-all-tests]
Based on : #6375
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