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Merged
hugtalbot merged 12 commits into from
Sep 24, 2026
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Apply changes from SOFA PR #6117 #615

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01c2410
Apply changes from SOFA PR #6117
bakpaul Jun 10, 2026
16f2a6c
Fix tests
bakpaul Jun 11, 2026
7733874
Fix requiredPlugins
bakpaul Jun 11, 2026
53675a3
remomve s from IntegrationSchemes
bakpaul Jun 17, 2026
8859d7b
fix timer scene
bakpaul Jul 20, 2026
bb9e35c
Merge branch 'master' into 26_06_apply_new_integration_schemes_changes
bakpaul Jul 20, 2026
dfa9970
Fix new scenes
bakpaul Jul 22, 2026
5e5d000
Merge branch 'master' into 26_06_apply_new_integration_schemes_changes
bakpaul Jul 31, 2026
313dcf0
Fix newly introduced scenes
bakpaul Jul 31, 2026
55281b6
Fix name for hasIntegrationScheme
bakpaul Sep 15, 2026
49ac809
Fix typo
fredroy Sep 16, 2026
d6d88fc
Merge branch 'master' into 26_06_apply_new_integration_schemes_changes
bakpaul Sep 21, 2026
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4 changes: 2 additions & 2 deletions bindings/Modules/tests/SofaConstraintSolver/matrix_access.py
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Expand Up @@ -17,14 +17,14 @@ def simulate_pendulum(self):
"Sofa.Component.Mapping.NonLinear",
"Sofa.Component.Mapping.MappedMatrix",
"Sofa.Component.Mass",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.IntegrationScheme.Backward",
"Sofa.Component.Topology.Container.Dynamic"])

root.addObject("FreeMotionAnimationLoop", solveVelocityConstraintFirst=True)
root.addObject("BlockGaussSeidelConstraintSolver", name="constraint_solver", tolerance=1e-9, maxIterations=1000)
root.addObject("StringMeshCreator", name="loader", resolution="20")

root.addObject("EulerImplicitSolver")
root.addObject("EulerImplicitIntegrationScheme")
root.addObject("EigenSimplicialLLT")
root.addObject("GenericConstraintCorrection")

Expand Down
4 changes: 2 additions & 2 deletions bindings/Modules/tests/SofaLinearSolver/matrix_access.py
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Expand Up @@ -9,14 +9,14 @@ def simulate_beam(self, linear_solver_template):

loop = root.addObject('DefaultAnimationLoop')

root.addObject('RequiredPlugin', pluginName='Sofa.Component.ODESolver.Backward')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.IntegrationScheme.Backward')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.LinearSolver.Direct')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Engine.Select')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Constraint.Projective')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.SolidMechanics.FEM.Elastic')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Mass')

root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('EulerImplicitIntegrationScheme', rayleighStiffness="0.1", rayleighMass="0.1")
linear_solver = root.addObject('SparseLDLSolver', name='linear_solver', template=linear_solver_template)

root.addObject('MechanicalObject', name="DoFs")
Expand Down
17 changes: 0 additions & 17 deletions bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseComponent.cpp
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Expand Up @@ -34,23 +34,6 @@
#include <sofa/core/CollisionModel.h>
#include <sofa/core/behavior/BaseMechanicalState.h>
#include <sofa/core/behavior/BaseForceField.h>
#include <sofa/core/behavior/BaseInteractionForceField.h>
#include <sofa/core/behavior/BaseProjectiveConstraintSet.h>
#include <sofa/core/behavior/BaseConstraintSet.h>
#include <sofa/core/DataEngine.h>
#include <sofa/core/topology/TopologicalMapping.h>
#include <sofa/core/behavior/BaseMass.h>
#include <sofa/core/behavior/OdeSolver.h>
#include <sofa/core/behavior/ConstraintSolver.h>
#include <sofa/core/behavior/BaseConstraintCorrection.h>
#include <sofa/core/behavior/LinearSolver.h>
#include <sofa/core/behavior/BaseAnimationLoop.h>
#include <sofa/core/topology/BaseTopology.h>
#include <sofa/core/loader/BaseLoader.h>
#include <sofa/core/collision/CollisionAlgorithm.h>
#include <sofa/core/collision/Pipeline.h>
#include <sofa/core/collision/Intersection.h>
#include <sofa/core/objectmodel/ConfigurationSetting.h>
#include <sofa/core/ExecParams.h>
#include <sofa/core/CategoryLibrary.h>
#include <pybind11/stl.h>
Expand Down
6 changes: 3 additions & 3 deletions bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node.cpp
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Expand Up @@ -629,9 +629,9 @@ py::object getMechanicalState(Node *self)
}


py::object hasODESolver(Node *self)
py::object hasIntegrationScheme(Node *self)
{
const bool hasODE = self->solver.size() > 0;
const bool hasODE = self->integrationScheme.size() > 0;
return py::cast(hasODE);
}

Expand Down Expand Up @@ -719,7 +719,7 @@ void moduleAddNode(py::module &m) {
p.def("getAsACreateObjectParameter", &getLinkPath, sofapython3::doc::sofa::core::Node::getAsACreateObjectParameter);
p.def("detachFromGraph", &Node::detachFromGraph, sofapython3::doc::sofa::core::Node::detachFromGraph);
p.def("getMass", &getMass, sofapython3::doc::sofa::core::Node::getMass);
p.def("hasODESolver", &hasODESolver, sofapython3::doc::sofa::core::Node::hasODESolver);
p.def("hasIntegrationScheme", &hasIntegrationScheme, sofapython3::doc::sofa::core::Node::hasIntegrationScheme);
p.def("getForceField", &getForceField, sofapython3::doc::sofa::core::Node::getForceField);
p.def("getMechanicalState", &getMechanicalState, sofapython3::doc::sofa::core::Node::getMechanicalState);
p.def("getMechanicalMapping", &getMechanicalMapping, sofapython3::doc::sofa::core::Node::getMechanicalMapping);
Expand Down
4 changes: 2 additions & 2 deletions bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node_doc.h
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Expand Up @@ -378,9 +378,9 @@ static auto getMechanicalState =
Get the mechanical state of the node.
)";

static auto hasODESolver =
static auto hasIntergationScheme =
Comment thread
fredroy marked this conversation as resolved.
Outdated
R"(
Return true if the node includes an ODE Solver
Return true if the node includes an integration scheme
)";

static auto getMechanicalMapping =
Expand Down
10 changes: 5 additions & 5 deletions bindings/Sofa/tests/Core/ForceField.py
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Expand Up @@ -12,10 +12,10 @@

def createIntegrationScheme(node, use_implicit_scheme):
if use_implicit_scheme is True:
node.addObject('EulerImplicitSolver', name='odeImplicitSolver',
node.addObject('EulerImplicitIntegrationScheme', name='odeImplicitSolver',
rayleighStiffness='0.1', rayleighMass='0.1')
else:
node.addObject('EulerExplicitSolver', name='odeExplicitSolver')
node.addObject('EulerExplicitIntegrationScheme', name='odeExplicitSolver')


def createSolver(node, use_iterative_solver):
Expand Down Expand Up @@ -44,7 +44,7 @@ def rssffScene(use_implicit_scheme=True, use_iterative_solver=True):
node.addObject('DefaultAnimationLoop')
node.addObject("RequiredPlugin", pluginName="Sofa.Component.StateContainer")
node.addObject("RequiredPlugin", pluginName="Sofa.Component.LinearSolver")
node.addObject("RequiredPlugin", pluginName="Sofa.Component.ODESolver")
node.addObject("RequiredPlugin", pluginName="Sofa.Component.IntegrationScheme")
node.addObject("RequiredPlugin", pluginName="Sofa.Component.Mass")

node.gravity = [0, -10, 0]
Expand Down Expand Up @@ -112,12 +112,12 @@ def simulate_beam(linear_solver_template):
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Engine.Select')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.LinearSolver.Direct')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Mass')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.ODESolver.Backward')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.IntegrationScheme.Backward')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.SolidMechanics.FEM.Elastic')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.StateContainer')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Topology.Container.Grid')

root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('EulerImplicitIntegrationScheme', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('SparseLDLSolver', template=linear_solver_template)

root.addObject('MechanicalObject', name="DoFs")
Expand Down
4 changes: 2 additions & 2 deletions bindings/Sofa/tests/Core/Mass.py
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Expand Up @@ -16,15 +16,15 @@ def simulate_beam(linear_solver_template):
root.addObject('DefaultAnimationLoop')

root.addObject('RequiredPlugin', pluginName='Sofa.Component.StateContainer')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.ODESolver.Backward')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.IntegrationScheme.Backward')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.LinearSolver.Direct')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Engine.Select')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Constraint.Projective')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.SolidMechanics.FEM.Elastic')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Mass')
root.addObject('RequiredPlugin', pluginName='Sofa.Component.Topology.Container.Grid')

root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('EulerImplicitIntegrationScheme', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('SparseLDLSolver', template=linear_solver_template)

root.addObject('MechanicalObject', name="DoFs")
Expand Down
8 changes: 4 additions & 4 deletions docs/sphinx/source/content/FirstSteps.rst
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Expand Up @@ -242,14 +242,14 @@ We add properties to the sphere. First, we add a mass, then an object called 'Un

.. code-block:: python

SofaRuntime.importPlugin("Sofa.Component.ODESolver.Backward")
SofaRuntime.importPlugin("Sofa.Component.IntegrationScheme.Backward")
SofaRuntime.importPlugin("Sofa.Component.LinearSolver.Iterative")
SofaRuntime.importPlugin("Sofa.Component.Mass")
SofaRuntime.importPlugin("Sofa.Component.Constraint.Lagrangian.Correction")

# Creating the falling sphere object
sphere = rootNode.addChild("sphere")
sphere.addObject('EulerImplicitSolver', name='odesolver')
sphere.addObject('EulerImplicitIntegrationScheme', name='odesolver')
sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-05, threshold=1e-05)
sphere.addObject('MechanicalObject', name="mstate", template="Rigid3", translation2=[0., 0., 0.], rotation2=[0., 0., 0.], showObjectScale=50)
sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
Expand Down Expand Up @@ -425,7 +425,7 @@ Here is the entire code of the scene :
confignode.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Mass", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.IntegrationScheme.Backward", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.StateContainer", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Visual", printLog=False)
Expand All @@ -450,7 +450,7 @@ Here is the entire code of the scene :


sphere = rootNode.addChild("sphere")
sphere.addObject('EulerImplicitSolver', name='odesolver')
sphere.addObject('EulerImplicitIntegrationScheme', name='odesolver')
sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-05, threshold=1e-05)
sphere.addObject('MechanicalObject', name="mstate", template="Rigid3", translation2=[0., 0., 0.], rotation2=[0., 0., 0.], showObjectScale=50)
sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
Expand Down
6 changes: 3 additions & 3 deletions docs/sphinx/source/content/UsingThePlugin.rst
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Expand Up @@ -301,7 +301,7 @@ We add properties to the sphere. First, we add a mass, then an object called 'Un

# Creating the falling sphere object
sphere = rootNode.addChild("sphere")
sphere.addObject('EulerImplicitSolver', name='odesolver')
sphere.addObject('EulerImplicitIntegrationScheme', name='odesolver')
sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-05, threshold=1e-05)
sphere.addObject('MechanicalObject', name="mstate", template="Rigid3", translation2=[0., 0., 0.], rotation2=[0., 0., 0.], showObjectScale=50)
sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
Expand Down Expand Up @@ -462,7 +462,7 @@ Here is the entire code of the scene :
confignode.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Mass", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.IntegrationScheme.Backward", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.StateContainer", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant", printLog=False)
confignode.addObject('RequiredPlugin', name="Sofa.Component.Visual", printLog=False)
Expand All @@ -486,7 +486,7 @@ Here is the entire code of the scene :


sphere = rootNode.addChild("sphere")
sphere.addObject('EulerImplicitSolver', name='odesolver')
sphere.addObject('EulerImplicitIntegrationScheme', name='odesolver')
sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-05, threshold=1e-05)
sphere.addObject('MechanicalObject', name="mstate", template="Rigid3", translation2=[0., 0., 0.], rotation2=[0., 0., 0.], showObjectScale=50)
sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
Expand Down
6 changes: 3 additions & 3 deletions examples/CCDIntersection.py
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Expand Up @@ -25,7 +25,7 @@ def createScene(root_node):
"Sofa.Component.Collision.Geometry", "Sofa.Component.Collision.Response.Contact",
"Sofa.Component.Constraint.Lagrangian.Correction", "Sofa.Component.Constraint.Lagrangian.Solver",
"Sofa.Component.IO.Mesh", "Sofa.Component.LinearSolver.Direct", "Sofa.Component.Mapping.Linear",
"Sofa.Component.Mass", "Sofa.Component.ODESolver.Backward", "Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.Mass", "Sofa.Component.IntegrationScheme.Backward", "Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.StateContainer", "Sofa.Component.Topology.Container.Dynamic",
"Sofa.Component.Topology.Container.Grid", "Sofa.Component.Topology.Mapping", "Sofa.Component.Visual",
"Sofa.GL.Component.Rendering3D", "Sofa.Component.Engine.Select", "Sofa.GUI.Component"])
Expand All @@ -45,7 +45,7 @@ def createScene(root_node):
#Liver mecha
Liver = root_node.addChild('Liver')

Liver.addObject('EulerImplicitSolver')
Liver.addObject('EulerImplicitIntegrationScheme')
Liver.addObject('SparseLDLSolver', name="ldl", template="CompressedRowSparseMatrixMat3x3", parallelInverseProduct=True)
Liver.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/liver.msh", scale3d=[0.2, 0.2, 0.2], rotation=[0, 180, -45], translation=[15.2, -0.15, 0.14])
Liver.addObject('TetrahedronSetTopologyContainer', name="Container", src='@meshLoader')
Expand Down Expand Up @@ -89,7 +89,7 @@ def createScene(root_node):
#Plate mecha
PlateMecha = root_node.addChild('PlateMecha')

PlateMecha.addObject('EulerImplicitSolver')
PlateMecha.addObject('EulerImplicitIntegrationScheme')
PlateMecha.addObject('SparseLDLSolver', name="ldl", template="CompressedRowSparseMatrixMat3x3", parallelInverseProduct=True)
PlateMecha.addObject('TetrahedronSetTopologyContainer', name="Container", position="@../BeamDomainFromGridTopology/HexaTop.position", tetrahedra="@../BeamDomainFromGridTopology/TetraTopology/Container.tetrahedra")
PlateMecha.addObject('TetrahedronSetTopologyModifier', name="Modifier")
Expand Down
4 changes: 2 additions & 2 deletions examples/MessageHandler.py
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Expand Up @@ -54,7 +54,7 @@ def createScene(root):
'Sofa.Component.Engine.Select',
'Sofa.Component.LinearSolver.Direct',
'Sofa.Component.Mass',
'Sofa.Component.ODESolver.Backward',
'Sofa.Component.IntegrationScheme.Backward',
'Sofa.Component.SolidMechanics.FEM.Elastic',
'Sofa.Component.StateContainer',
'Sofa.Component.Topology.Container.Grid',
Expand All @@ -66,7 +66,7 @@ def createScene(root):
root.addObject('DefaultAnimationLoop')
root.addObject('DefaultVisualManagerLoop')

root.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1, printLog=False)
root.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.1, rayleighMass=0.1, printLog=False)
root.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")

root.addObject('MechanicalObject', name="DoFs")
Expand Down
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4 changes: 2 additions & 2 deletions examples/RPYC/ExampleLocalCreateSceneMethod.py
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Expand Up @@ -22,7 +22,7 @@ def createScene(root):
root.addObject("RequiredPlugin", pluginName='Sofa.Component.LinearSolver.Iterative')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.Mapping.Linear')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.Mass')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.ODESolver.Backward')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.IntegrationScheme.Backward')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.SolidMechanics.FEM.Elastic')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.StateContainer')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.Topology.Container.Dynamic')
Expand All @@ -42,7 +42,7 @@ def createScene(root):
root.addObject('MeshOBJLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")

liver = root.addChild('Liver')
liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
liver.addObject('EulerImplicitIntegrationScheme', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
liver.addObject('CGLinearSolver', name="linear_solver", iterations="25", tolerance="1e-09", threshold="1e-09")
liver.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/liver.msh")
liver.addObject('TetrahedronSetTopologyContainer', name="topo", src="@meshLoader")
Expand Down
4 changes: 2 additions & 2 deletions examples/RPYC/ExampleManipulatingTheNodeLocally.py
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Expand Up @@ -27,7 +27,7 @@
root.addObject("RequiredPlugin", pluginName='Sofa.Component.LinearSolver.Iterative')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.Mapping.Linear')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.Mass')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.ODESolver.Backward')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.IntegrationScheme.Backward')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.SolidMechanics.FEM.Elastic')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.StateContainer')
root.addObject("RequiredPlugin", pluginName='Sofa.Component.Topology.Container.Dynamic')
Expand All @@ -47,7 +47,7 @@
root.addObject('MeshOBJLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")

liver = root.addChild('Liver')
liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
liver.addObject('EulerImplicitIntegrationScheme', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
liver.addObject('CGLinearSolver', name="linear_solver", iterations="25", tolerance="1e-09", threshold="1e-09")
liver.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/liver.msh")
liver.addObject('TetrahedronSetTopologyContainer', name="topo", src="@meshLoader")
Expand Down
4 changes: 2 additions & 2 deletions examples/ReadTheDocs_Example.py
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Expand Up @@ -26,7 +26,7 @@ def createScene(rootNode):
'Sofa.Component.LinearSolver.Iterative',
'Sofa.Component.Mapping.NonLinear',
'Sofa.Component.Mass',
'Sofa.Component.ODESolver.Backward',
'Sofa.Component.IntegrationScheme.Backward',
'Sofa.Component.StateContainer',
'Sofa.Component.Topology.Container.Constant',
'Sofa.Component.Visual',
Expand Down Expand Up @@ -92,7 +92,7 @@ def createScene(rootNode):
sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
sphere.addObject('UncoupledConstraintCorrection')

sphere.addObject('EulerImplicitSolver', name='odesolver')
sphere.addObject('EulerImplicitIntegrationScheme', name='odesolver')
sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-5, threshold=1e-5)

collision = sphere.addChild('collision')
Expand Down
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