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Fix AdaptiveBeamForceFieldAndMass#237

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bakpaul wants to merge 4 commits into
sofa-framework:masterfrom
bakpaul:26_07_fix_adaptive_beam_ff_and_mass
Open

Fix AdaptiveBeamForceFieldAndMass#237
bakpaul wants to merge 4 commits into
sofa-framework:masterfrom
bakpaul:26_07_fix_adaptive_beam_ff_and_mass

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@bakpaul

@bakpaul bakpaul commented Jul 21, 2026

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This component was broken wince the begining but it wasn't an issue until I needed to accumulate inertia terms on the RHS of the Integration scheme. The problem here is thazt the addMDx method ignores the dx passed and always uses the same value. This broke completely the dynamics, nullifying the contribution of the mass to the RHS.

It was identified by AI, and the code was made by AI, but it works properly now thank's to this.

@bakpaul bakpaul added pr: fix pr: clean pr: status to review To notify reviewers to review this pull-request pr: breaking labels Jul 21, 2026
@bakpaul

bakpaul commented Jul 24, 2026

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After some investigation, the regression here is indeed a consequence of the PR. Before my PR, because addMDx was broken, when adding the rayleigh damping to the RHS, only the part coming from the rayleigh stiffness was added. Indeed, when adding the part multiplied by M, the forcefield added M*g instead, which is 0 (because here g=0).

After trying to recreate the same behavior by removing the rayleigh stiffness from the RHS, the results are closer than the expected precision. So I'll regenerate the references to fix this regression.

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