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[Core,IntegrationScheme] Replace legacy propagation by mapping-graph based propagation #6334

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Merged
hugtalbot merged 4 commits into from
Nov 6, 2026
Merged

[Core,IntegrationScheme] Replace legacy propagation by mapping-graph based propagation #6334

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c6c02ac
[Core,IntegrationScheme] Replace legacy propagation by mapping-graph …
alxbilger Sep 28, 2026
80d08d3
Fix typo
alxbilger Oct 1, 2026
91f1cbf
fix usage of mparams
alxbilger Oct 29, 2026
22751da
Merge branch 'master' into replacepropagation
bakpaul Nov 5, 2026
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7 changes: 4 additions & 3 deletions ...ward/src/sofa/component/integrationscheme/backward/StaticEquilibriumIntegrationScheme.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <sofa/core/visual/VisualParams.h>
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/helper/ScopedAdvancedTimer.h>
#include <sofa/simulation/DifferentialOperations.h>
#include <sofa/simulation/MappingGraph.h>
#include <sofa/simulation/MechanicalOperations.h>
#include <sofa/simulation/VectorOperations.h>
Expand Down Expand Up @@ -187,7 +188,7 @@ void StaticEquilibriumIntegrationScheme::integrate(const core::ExecParams* param

//Already make a full step
updateStatesFromLinearSolution(alpha, firstIt);
m_mop->propagateX(xResult); //Need to propagate explicitly to enable recomputation of mapped Forcefield
simulation::common::DifferentialOperations::pushforwardCoord(m_mappingGraph, m_mop->mparams, xResult);

computeRHS(false);
newResidue = evaluateResidual();
Expand Down Expand Up @@ -215,7 +216,7 @@ void StaticEquilibriumIntegrationScheme::integrate(const core::ExecParams* param
alpha -= delta;

updateStatesFromLinearSolution(-delta, false);
m_mop->propagateX(xResult); //Need to propagate explicitly to enable recomputation of mapped Forcefield
simulation::common::DifferentialOperations::pushforwardCoord(m_mappingGraph, *m_params, xResult);

computeRHS(false);
newResidue = evaluateResidual();
Expand All @@ -232,7 +233,7 @@ void StaticEquilibriumIntegrationScheme::integrate(const core::ExecParams* param
if (fabs(alpha - bestalpha )> std::numeric_limits<SReal>::epsilon() )
{
updateStatesFromLinearSolution( bestalpha - alpha, false);
m_mop->propagateX(xResult); //Need to propagate explicitly to enable recomputation of mapped Forcefileld
simulation::common::DifferentialOperations::pushforwardCoord(m_mappingGraph, m_mop->mparams, xResult);

computeRHS(false);
newResidue = evaluateResidual();
Expand Down
28 changes: 15 additions & 13 deletions ...Core/src/sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,12 +20,14 @@
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.h>

#include <sofa/core/ObjectFactory.h>
#include <sofa/core/behavior/BaseMass.h>
#include <sofa/core/behavior/LinearSolver.h>
#include <sofa/core/visual/VisualParams.h>
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/helper/ScopedAdvancedTimer.h>
#include <sofa/simulation/DifferentialOperations.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>

Expand Down Expand Up @@ -124,9 +126,9 @@ void AccelerationBasedImplicitIntegrationScheme::doSetupIntegrationStep(const co
//Propagate intermediate vectors
for (unsigned i = 0; i < order; ++i)
{
m_mop->propagateX(m_x0[i]);
m_mop->propagateV(m_v0[i]);
m_mop->propagateV(m_a0[i]);
simulation::common::DifferentialOperations::pushforwardCoord(m_mappingGraph, m_mop->mparams, m_x0[i]);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_v0[i]);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_a0[i]);
}

}
Expand Down Expand Up @@ -202,8 +204,8 @@ void AccelerationBasedImplicitIntegrationScheme::computeRHS(bool firstIteration)

if (firstIteration)
{
m_mop->propagateDx(m_r1);
m_mop->propagateDx(m_r2);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r1);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r2);

m_mop->mparams.setV(m_r1);
m_mop->addMBKv(m_mappingGraph, m_r0, core::MatricesFactors::M(0.0),
Expand All @@ -217,7 +219,7 @@ void AccelerationBasedImplicitIntegrationScheme::computeRHS(bool firstIteration)
}

m_mop->mparams.setV(m_acceleration);
m_mop->propagateDx(m_acceleration);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_acceleration);

m_mop->addMBKv(m_mappingGraph, m_r0, core::MatricesFactors::M(-1.0),
core::MatricesFactors::B(0),
Expand All @@ -229,9 +231,9 @@ void AccelerationBasedImplicitIntegrationScheme::computeRHS(bool firstIteration)
m_mop->projectResponse(m_mappingGraph, m_r1);
m_mop->projectResponse(m_mappingGraph, m_r2);

m_mop->propagateDx(m_r0);
m_mop->propagateDx(m_r1);
m_mop->propagateDx(m_r2);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r0);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r1);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r2);
}

}
Expand All @@ -254,7 +256,7 @@ void AccelerationBasedImplicitIntegrationScheme::solveLinearEquation()
l_linearSolver->solveSystem();
l_linearSolver->getLinearSystem()->dispatchSystemSolution(m_systemUnknown);

m_mop->propagateDx(m_systemUnknown);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_systemUnknown);
}

void AccelerationBasedImplicitIntegrationScheme::updateStatesFromLinearSolution(SReal alpha, bool firstIteration)
Expand Down Expand Up @@ -287,9 +289,9 @@ void AccelerationBasedImplicitIntegrationScheme::updateStatesFromLinearSolution(

// TODO this collides with Free motion propagation using a MechanicalVOpVisitor and expecting a EulerImplicit
// future implementation of global Newton will reactivate those
// m_mop->propagateX(pos);
// m_mop->propagateV(vel);
// m_mop->propagateDx(acc);
// simulation::common::DifferentialOperations::pushforwardCoord(m_mappingGraph, m_mop->mparams, pos);
// simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, vel);
// simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, acc);
}


Expand Down
18 changes: 10 additions & 8 deletions ...ion/Core/src/sofa/simulation/integrationscheme/VelocityBasedImplicitIntegrationScheme.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,12 +20,14 @@
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/simulation/integrationscheme/VelocityBasedImplicitIntegrationScheme.h>

#include <sofa/core/ObjectFactory.h>
#include <sofa/core/behavior/BaseMass.h>
#include <sofa/core/behavior/LinearSolver.h>
#include <sofa/core/visual/VisualParams.h>
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/helper/ScopedAdvancedTimer.h>
#include <sofa/simulation/DifferentialOperations.h>

#include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalVOpVisitor;
Expand Down Expand Up @@ -204,7 +206,7 @@ void VelocityBasedImplicitIntegrationScheme::computeRHS(bool firstIteration)
{
// This propagation is needed for forcefields that are applied to mapped objects. Then,
// those mapped objects need to have the r1 up to date otherwise it'll add 0.
m_mop->propagateDx(m_r1);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r1);

m_mop->mparams.setV(m_r1);
m_mop->addMBKv(m_mappingGraph,m_r0, core::MatricesFactors::M(0.0),
Expand All @@ -220,7 +222,7 @@ void VelocityBasedImplicitIntegrationScheme::computeRHS(bool firstIteration)
computeAccelerationFromVelocity(*m_vop, m_acceleration, m_vResult);

// Again, as for m_r1, this propagation is needed for Mapped mass.
m_mop->propagateDx(m_acceleration);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_acceleration);

m_mop->mparams.setV(m_acceleration);
m_mop->addMBKv(m_mappingGraph,m_r0, core::MatricesFactors::M(-1.0),
Expand All @@ -247,8 +249,8 @@ void VelocityBasedImplicitIntegrationScheme::computeRHS(bool firstIteration)
m_mop->projectResponse(m_mappingGraph,m_r0);
m_mop->projectResponse(m_mappingGraph,m_r1);

m_mop->propagateDx(m_r0);
m_mop->propagateDx(m_r1);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r0);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_r1);
}

}
Expand All @@ -270,7 +272,7 @@ void VelocityBasedImplicitIntegrationScheme::solveLinearEquation()
l_linearSolver->solveSystem();
l_linearSolver->getLinearSystem()->dispatchSystemSolution(m_systemUnknown);

m_mop->propagateDx(m_systemUnknown);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_systemUnknown);
}

void VelocityBasedImplicitIntegrationScheme::updateStatesFromLinearSolution(SReal alpha, bool firstIteration)
Expand All @@ -294,8 +296,8 @@ void VelocityBasedImplicitIntegrationScheme::updateStatesFromLinearSolution(SRea

// TODO this collides with Free motion propagation using a MechanicalVOpVisitor and expecting a EulerImplicit
// future implementation of global Newton will reactivate those
// m_mop->propagateX(pos);
// m_mop->propagateV(vel);
// simulation::common::DifferentialOperations::pushforwardCoord(m_mappingGraph, m_mop->mparams, pos);
// simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, vel);

}

Expand All @@ -305,7 +307,7 @@ void VelocityBasedImplicitIntegrationScheme::finalizeIntegrationStep()
if (d_computeFinalAcceleration.getValue())
{
computeAccelerationFromVelocity(*m_vop, m_acceleration, m_vResult);
m_mop->propagateDx(m_acceleration);
simulation::common::DifferentialOperations::pushforwardTangent(m_mappingGraph, m_mop->mparams, m_acceleration);
}
}

Expand Down
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