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[IntegrationScheme] Fix propagation of unknown state #6346

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Merged
hugtalbot merged 3 commits into from
Oct 28, 2026
Merged

[IntegrationScheme] Fix propagation of unknown state #6346

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5b032c5
Copy local state instead of going through the mappings
bakpaul Oct 5, 2026
0546db6
Apply batched suggestions from code review
bakpaul Oct 12, 2026
65911d2
Add state copy for AccelerationBased too
bakpaul Oct 12, 2026
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10 changes: 8 additions & 2 deletions ...Core/src/sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/helper/ScopedAdvancedTimer.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>

using sofa::simulation::mechanicalvisitor::MechanicalGetNonDiagonalMassesCountVisitor;

Expand All @@ -46,8 +47,13 @@ void AccelerationBasedImplicitIntegrationScheme::doSetupIntegrationStep(const co

// This is only there for lagrangian based simulation, to make sure we start using the real pose
// instead of the free pos (same for velocity)
m_vop->v_eq(m_vResult, core::vec_id::write_access::velocity);
m_vop->v_eq(m_xResult, core::vec_id::write_access::position);
simulation::mechanicalvisitor::MechanicalVOpVisitor copyPoseInFreePose(params, m_xResult, core::vec_id::write_access::position);
simulation::mechanicalvisitor::MechanicalVOpVisitor copyVelInFreeVel(params, m_vResult, core::vec_id::write_access::velocity);
copyVelInFreeVel.setMapped(true);
copyPoseInFreePose.setMapped(true);
this->getContext()->executeVisitor(&copyPoseInFreePose);
this->getContext()->executeVisitor(&copyVelInFreeVel);


// Deal with higher order integration scheme
const Size order = getIntegrationSchemeTimeOrder();
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10 changes: 7 additions & 3 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 @@ -28,6 +28,7 @@
#include <sofa/helper/ScopedAdvancedTimer.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalGetNonDiagonalMassesCountVisitor;
#include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>

namespace sofa::simulation::integrationscheme
{
Expand Down Expand Up @@ -65,9 +66,12 @@ void VelocityBasedImplicitIntegrationScheme::doSetupIntegrationStep(const core::

// This is only there for lagrangian based simulation, to make sure we start using the real pose
// instead of the free pos (same for velocity)

m_vop->v_eq(m_vResult, core::vec_id::write_access::velocity);
m_vop->v_eq(m_xResult, core::vec_id::write_access::position);
simulation::mechanicalvisitor::MechanicalVOpVisitor copyPoseInFreePose(params, m_xResult, core::vec_id::write_access::position);
simulation::mechanicalvisitor::MechanicalVOpVisitor copyVelInFreeVel(params, m_vResult, core::vec_id::write_access::velocity);
copyVelInFreeVel.setMapped(true);
copyPoseInFreePose.setMapped(true);
this->getContext()->executeVisitor(&copyPoseInFreePose);

@fredroy fredroy Oct 12, 2026 •
edited
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m_vop->v_eq was filtering on the eventual tags apparently, with this->getContext()->executeVisitor the tag filtering is lost. But I dont know it we still really support the tagging system.

@bakpaul bakpaul Oct 12, 2026

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The tagging system might be important for some diffusion scenes. Tje v_eq was added by me in my IntegrationScheme PR so I didn't make the use of v_eq because of the tag filtering. In other words, if we don't see any changes in the tests, there is no willingness to keep filtering here.

this->getContext()->executeVisitor(&copyVelInFreeVel);

// Deal with higher order integration scheme
const Size order = getIntegrationSchemeTimeOrder();
Expand Down
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