[All] Introduce integration schemes

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h

@@ -30,7 +30,7 @@ SOFA_HEADER_DEPRECATED_NOT_REPLACED("v26.06", "v26.12")
 #include <sofa/core/MultiVecId.h>
 #include <sofa/core/VecId.h>
 #include <sofa/core/behavior/BaseConstraintCorrection.h>
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/ConstraintParams.h>
 #include <sofa/core/fwd.h>
 

Sofa/Component/CMakeLists.txt

@@ -5,13 +5,13 @@ set(SOFACOMPONENT_SOURCE_DIR "src/sofa/component")
 
 sofa_add_subdirectory_modules(SOFACOMPONENT_TARGETS
     DIRECTORIES
-    ODESolver
     IO
     Playback
     SceneUtility
     Topology
     Visual
     LinearSystem
+    IntegrationScheme
     LinearSolver
     Mass
     Diffusion

Sofa/Component/Constraint/Lagrangian/Correction/CMakeLists.txt

@@ -26,13 +26,13 @@ set(SOURCE_FILES
 sofa_find_package(Sofa.Simulation.Core REQUIRED)
 sofa_find_package(Sofa.Component.Mass REQUIRED) # UncoupledCC needs UniformMass
 sofa_find_package(Sofa.Component.LinearSolver.Iterative REQUIRED) # PrecomputedCC needs CGLinearSolver
-sofa_find_package(Sofa.Component.ODESolver.Backward REQUIRED) # PrecomputedCC needs EulerSolver
+sofa_find_package(Sofa.Component.IntegrationScheme.Backward REQUIRED) # PrecomputedCC needs EulerSolver
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Mass)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.LinearSolver.Iterative)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.ODESolver.Backward)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.IntegrationScheme.Backward)
 
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}

Sofa/Component/Constraint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in

@@ -7,7 +7,7 @@ find_package(Sofa.Config QUIET REQUIRED)
 sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
 sofa_find_package(Sofa.Component.Mass QUIET REQUIRED)
 sofa_find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED)
-sofa_find_package(Sofa.Component.ODESolver.Backward QUIET REQUIRED)
+sofa_find_package(Sofa.Component.IntegrationScheme.Backward QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp

@@ -23,7 +23,7 @@
 
 #include <sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h>
 #include <sofa/simulation/mechanicalvisitor/MechanicalIntegrateConstraintVisitor.h>
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/core/behavior/ConstraintSolver.h>
 #include <sofa/core/behavior/LinearSolver.h>
@@ -94,10 +94,10 @@ void GenericConstraintCorrection::init()
     {
         msg_info() << "Link \"ODESolver\" to the desired ODE solver should be set to ensure right behavior." << msgendl
                    << "First ODESolver found in current context will be used.";
-        l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(BaseContext::Local) );
+        l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(BaseContext::Local) );
         if (l_ODESolver.get() == nullptr)
         {
-            l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(BaseContext::SearchRoot) );
+            l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(BaseContext::SearchRoot) );
         }
     }
 
@@ -138,7 +138,7 @@ void GenericConstraintCorrection::addComplianceInConstraintSpace(const Constrain
     if (!l_ODESolver.get()) return;
     const SReal complianceFactor = d_complianceFactor.getValue();
 
-    // use the OdeSolver to get the integration factor
+    // use the IntegrationScheme to get the integration factor
     SReal factor = BaseConstraintCorrection::correctionFactor(l_ODESolver.get(), cparams->constOrder());
     factor *= complianceFactor;
 

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h

@@ -111,7 +111,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API GenericConstraintCorre
     void resetContactForce() override;
 
     SingleLink<GenericConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_linearSolver; ///< Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix
-    SingleLink<GenericConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
+    SingleLink<GenericConstraintCorrection,  sofa::core::behavior::BaseIntegrationScheme, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
     Data< SReal > d_complianceFactor; ///< Factor applied to the position factor and velocity factor used to calculate compliance matrix
     Data< SReal > d_regularizationTerm; ///< add regularizationTerm*Id to W when solving for constraints
 

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.h

@@ -24,7 +24,7 @@
 
 #include <sofa/core/behavior/ConstraintCorrection.h>
 
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/behavior/LinearSolver.h>
 
 #include <sofa/type/Mat.h>
@@ -95,7 +95,7 @@ class LinearSolverConstraintCorrection : public sofa::core::behavior::Constraint
     Data< bool > wire_optimization; ///< constraints are reordered along a wire-like topology (from tip to base)
     Data< SReal > d_regularizationTerm; ///< add regularization*Id to W when solving for constraints
     SingleLink<LinearSolverConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_linearSolver; ///< Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix
-    SingleLink<LinearSolverConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
+    SingleLink<LinearSolverConstraintCorrection,  sofa::core::behavior::BaseIntegrationScheme, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_ODESolver; ///< Link towards the ODE solver used to recover the integration factors
 
     void verify_constraints();
 

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl

@@ -104,10 +104,10 @@ void LinearSolverConstraintCorrection<DataTypes>::init()
     {
         msg_info() << "Link \"ODESolver\" to the desired ODE solver should be set to ensure right behavior." << msgendl
                    << "First ODESolver found in current context will be used.";
-        l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(sofa::core::objectmodel::BaseContext::Local) );
+        l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(sofa::core::objectmodel::BaseContext::Local) );
         if (l_ODESolver.get() == nullptr)
         {
-            l_ODESolver.set( context->get<sofa::core::behavior::OdeSolver>(sofa::core::objectmodel::BaseContext::SearchRoot) );
+            l_ODESolver.set( context->get< sofa::core::behavior::BaseIntegrationScheme>(sofa::core::objectmodel::BaseContext::SearchRoot) );
         }
     }
 
@@ -192,7 +192,7 @@ void LinearSolverConstraintCorrection<DataTypes>::addComplianceInConstraintSpace
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal factor = core::behavior::BaseConstraintCorrection::correctionFactor(l_ODESolver.get(), cparams->constOrder());
 
     // J is read from the mechanical state and converted to m_constraintJacobian
@@ -373,10 +373,10 @@ void LinearSolverConstraintCorrection<DataTypes>::applyContactForce(const linear
 
     //TODO: tell the solver not to recompute the matrix
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal positionFactor = l_ODESolver.get()->getPositionIntegrationFactor();
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal velocityFactor = l_ODESolver.get()->getVelocityIntegrationFactor();
 
     Data<VecCoord>& xData     = *mstate->write(core::vec_id::write_access::position);
@@ -689,7 +689,7 @@ void LinearSolverConstraintCorrection<DataTypes>::getBlockDiagonalCompliance(lin
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
 
-    // use the OdeSolver to get the position integration factor
+    // use the IntegrationScheme to get the position integration factor
     const SReal factor = l_ODESolver.get()->getPositionIntegrationFactor(); //*m_ODESolver->getPositionIntegrationFactor(); // dt*dt
 
     const unsigned int numDOFs = mstate->getSize();

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl

@@ -27,7 +27,7 @@
 #include <sofa/simulation/Node.h>
 #include <sofa/simulation/MechanicalVisitor.h>
 
-#include <sofa/component/odesolver/backward/EulerImplicitSolver.h>
+#include <sofa/component/integrationscheme/backward/EulerImplicitIntegrationScheme.h>
 
 #include <sofa/linearalgebra/SparseMatrix.h>
 #include <sofa/component/linearsolver/iterative/CGLinearSolver.h>
@@ -287,7 +287,7 @@ void PrecomputedConstraintCorrection<DataTypes>::bwdInit()
         static constexpr sofa::type::Vec3 gravity_zero(0_sreal, 0_sreal, 0_sreal);
         this->getContext()->setGravity(gravity_zero);
 
-        sofa::component::odesolver::backward::EulerImplicitSolver* eulerSolver;
+        sofa::component::integrationscheme::backward::EulerImplicitIntegrationScheme* eulerSolver;
         sofa::component::linearsolver::iterative::CGLinearSolver< sofa::component::linearsolver::GraphScatteredMatrix, sofa::component::linearsolver::GraphScatteredVector >* cgLinearSolver;
         core::behavior::LinearSolver* linearSolver;
 
@@ -297,19 +297,19 @@ void PrecomputedConstraintCorrection<DataTypes>::bwdInit()
 
         if (eulerSolver && cgLinearSolver)
         {
-            msg_info() << "use EulerImplicitSolver & CGLinearSolver" ;
+            msg_info() << "use EulerImplicitIntegrationScheme & CGLinearSolver" ;
         }
         else if (eulerSolver && linearSolver)
         {
-            msg_info() << "use EulerImplicitSolver & LinearSolver";
+            msg_info() << "use EulerImplicitIntegrationScheme & LinearSolver";
         }
         else if(eulerSolver)
         {
-            msg_info() << "use EulerImplicitSolver";
+            msg_info() << "use EulerImplicitIntegrationScheme";
         }
         else
         {
-            msg_error() << "PrecomputedContactCorrection must be associated with EulerImplicitSolver+LinearSolver for the precomputation\nNo Precomputation" ;
+            msg_error() << "PrecomputedContactCorrection must be associated with EulerImplicitIntegrationScheme+LinearSolver for the precomputation\nNo Precomputation" ;
             return;
         }
 
@@ -345,7 +345,7 @@ void PrecomputedConstraintCorrection<DataTypes>::bwdInit()
         /// (avoid to have a line of 0 at the top of the matrix)
         if (eulerSolver)
         {
-            eulerSolver->solve(core::execparams::defaultInstance(), dt, core::vec_id::write_access::position, core::vec_id::write_access::velocity);
+            eulerSolver->integrate(core::execparams::defaultInstance(), dt, core::vec_id::write_access::position, core::vec_id::write_access::velocity);
         }
 
         Deriv unitary_force;
@@ -380,7 +380,7 @@ void PrecomputedConstraintCorrection<DataTypes>::bwdInit()
                 {
                     fact *= eulerSolver->getPositionIntegrationFactor(); // here, we compute a compliance
 
-                    eulerSolver->solve(core::execparams::defaultInstance(), dt, core::vec_id::write_access::position, core::vec_id::write_access::velocity);
+                    eulerSolver->integrate(core::execparams::defaultInstance(), dt, core::vec_id::write_access::position, core::vec_id::write_access::velocity);
                 }
 
                 for (unsigned int v = 0; v < nbNodes; v++)

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp

@@ -42,19 +42,19 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr
 
     double  odeFactor = 1.0;
 
-    this->getContext()->get(m_pOdeSolver);
-    if (!m_pOdeSolver)
+    this->getContext()->get(m_pIntegrationScheme);
+    if (!m_pIntegrationScheme)
     {
-        if (d_useOdeSolverIntegrationFactors.getValue() == true)
+        if (d_useIntegrationSchemeIntegrationFactors.getValue() == true)
         {
             msg_error() << "Can't find any odeSolver";
-            d_useOdeSolverIntegrationFactors.setValue(false);
+            d_useIntegrationSchemeIntegrationFactors.setValue(false);
         }
-        d_useOdeSolverIntegrationFactors.setReadOnly(true);
+        d_useIntegrationSchemeIntegrationFactors.setReadOnly(true);
     }
     else
     {
-        if( !d_useOdeSolverIntegrationFactors.getValue() )
+        if( !d_useIntegrationSchemeIntegrationFactors.getValue() )
         {
             const double dt = this->getContext()->getDt();
             odeFactor = dt*dt; // W = h^2 * JMinvJt : only correct when solving in constraint equation in position. Must be deprecated.

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.h

@@ -23,8 +23,9 @@
 #include <sofa/component/constraint/lagrangian/correction/config.h>
 
 #include <sofa/core/behavior/ConstraintCorrection.h>
-#include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/core/behavior/BaseIntegrationScheme.h>
 #include <sofa/core/topology/TopologyData.h>
+#include <sofa/core/objectmodel/lifecycle/RenamedData.h>
 
 namespace sofa::component::constraint::lagrangian::correction
 {
@@ -116,7 +117,8 @@ class UncoupledConstraintCorrection : public sofa::core::behavior::ConstraintCor
     Data<bool> d_verbose; ///< Dump the constraint matrix at each iteration
     Data< Real > d_correctionVelocityFactor; ///< Factor applied to the constraint forces when correcting the velocities
     Data< Real > d_correctionPositionFactor; ///< Factor applied to the constraint forces when correcting the positions
-    Data < bool > d_useOdeSolverIntegrationFactors; ///< Use odeSolver integration factors instead of correctionVelocityFactor and correctionPositionFactor
+    Data < bool > d_useIntegrationSchemeIntegrationFactors; ///< Use odeSolver integration factors instead of correctionVelocityFactor and correctionPositionFactor
+    sofa::core::objectmodel::lifecycle::RenamedData<bool> d_useOdeSolverIntegrationFactors;
 
     /// Link to be set to the topology container in the component graph.
     SingleLink<UncoupledConstraintCorrection<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
@@ -128,7 +130,7 @@ class UncoupledConstraintCorrection : public sofa::core::behavior::ConstraintCor
 
 protected:
 
-    sofa::core::behavior::OdeSolver* m_pOdeSolver;
+     sofa::core::behavior::BaseIntegrationScheme* m_pIntegrationScheme;
 
     /**
      * @brief Compute dx correction from motion space force vector.