Example of a ForceField implemented with JAX by leobois67 · Pull Request #557 · sofa-framework/SofaPython3

leobois67 · 2025-11-07T15:53:25Z

Illustrates how to leverage JAX autodiff to implement the methods 'addDForce()' and 'addKToMatrix()' automatically.
This example shows a set of particles attached to the origin with a simple spring.

I included a few options for the scene, that might be unnecessary:

time integration and linear solver, to illustrate that not all combinations require all methods to be implemented
number of particles, to show how computational cost and memory requirement scale (important here since the jacobian computed by JAX is dense)
SOFA built-in alternative for comparison

leobois67 · 2025-11-07T15:57:19Z

Note: it requires JAX to run

bakpaul · 2025-11-13T16:05:50Z

Sorry, but I get a segfault while running it at the very first timestep.

terminate called after throwing an instance of 'pybind11::type_error'
  what():  Can't read return value of AddKToMatrix. A numpy array is expected

leobois67 · 2025-11-13T17:00:51Z

I believe this example stopped working after this commit 5029c050f68078ab5173d1ffcace69598caa7f8b by @alxbilger.

I don’t know exactly how things worked before, but now when I try to fix it, (1) I have to add an extra dimension to enter the correct if statement, so the KMatrix has shape (n, n, 1), and (2) it is super slow. I will look into it.

alxbilger · 2025-11-13T17:16:01Z

@leobois67 you're probably right about my commit. However, I don't understand how it could work before. I suspect that the matrix was not filled with your Python force field. This hypothesis is strenghened by the fact that it is slower now. Is it possible?

leobois67 · 2025-11-13T17:23:49Z

@alxbilger I agree that it probably did not work as it was supposed to. The matrix that was passed was not a numpy array but a jax array, with shape (n, 3, n, 3), so I don’t know how it was processed, but I guess it was silently ignored.

Also, it is the processing of the matrix that is slow, not its computation: returning a dense matrix full of zeros seems to be just as slow. Is there a way to improve that?

alxbilger · 2025-11-13T17:26:42Z

In the code in 5029c05, each mat->add is time consuming. It is best to reduce the number of calls. You can try to test if the value is non-zero before calling mat->add.

leobois67 · 2025-11-14T11:03:44Z

I think I got something that works relatively well, by returning only the non-zero values as you suggested. I left the code that returns the dense matrix for people who don’t have a big sparse jacobian.

To give you an idea of the impact on the performances, here are some stats with the simulation of 1000 independent particles:

SOFA force field: ~1300 FPS
JAX force field, sparse jacobian, optimized: ~390 FPS on GPU, ~40 FPS on CPU
JAX force field, sparse jacobian, not optimized: ~120 FPS on GPU, ~7 FPS on CPU
JAX force field, dense jacobian: ~7 FPS on GPU and CPU

By "sparse jacobian" I mean returning only the non-zero values; by "optimized" I refer to an optimization I mention in the code, that leverages the knowledge of the sparsity of the jacobian; by "GPU"/"CPU" I refer to the device JAX uses.

Also, most of the time spent in addKToMatrix() is spent in the conversion of the JAX array (typically on GPU) to the numpy array (on CPU): about 90% of the time for the 390 FPS case. I guess JAX would be even better if it could share data with SOFA directly on the GPU. Is this something doable?

alxbilger · 2025-11-14T12:50:31Z

@leobois67 thanks for the benchmark. I don't know JAX enough to answer your question. I can tell that in C++/CUDA, we manipulate a raw pointer, whether the data are on the CPU or on the GPU. We would need a way to communicate the memory location of this data to JAX somehow. Don't know if that's possible

bakpaul · 2025-12-04T10:43:48Z

Hello ! I still have a segfault in the buildStifnessMatrix. Could someone else than me try this ? @alxbilger

hugtalbot · 2025-12-20T15:56:25Z

I ran it on CPU and also have it @bakpaul

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::sig(int)
  sofa::core::behavior::BaseForceField::buildStiffnessMatrix(sofa::core::behavior::StiffnessMatrix*)
  sofa::component::linearsystem::MatrixLinearSystem<sofa::linearalgebra::CompressedRowSparseMatrixMechanical<double, sofa::linearalgebra::CRSMechanicalPolicy>, sofa::linearalgebra::FullVector<double> >::assembleSystem(sofa::core::MechanicalParams const*)::{lambda(sofa::component::linearsystem::MatrixLinearSystem<sofa::linearalgebra::CompressedRowSparseMatrixMechanical<double, sofa::linearalgebra::CRSMechanicalPolicy>, sofa::linearalgebra::FullVector<double> >::IndependentContributors&)#1}::operator()(sofa::component::linearsystem::MatrixLinearSystem<sofa::linearalgebra::CompressedRowSparseMatrixMechanical<double, sofa::linearalgebra::CRSMechanicalPolicy>, sofa::linearalgebra::FullVector<double> >::IndependentContributors&) const
  sofa::component::linearsystem::MatrixLinearSystem<sofa::linearalgebra::CompressedRowSparseMatrixMechanical<double, sofa::linearalgebra::CRSMechanicalPolicy>, sofa::linearalgebra::FullVector<double> >::assembleSystem(sofa::core::MechanicalParams const*)
  sofa::core::behavior::BaseMatrixLinearSystem::buildSystemMatrix(sofa::core::MechanicalParams const*)
  sofa::component::odesolver::backward::EulerImplicitSolver::solve(sofa::core::ExecParams const*, double, sofa::core::TMultiVecId<(sofa::core::VecType)1, (sofa::core::VecAccess)1>, sofa::core::TMultiVecId<(sofa::core::VecType)2, (sofa::core::VecAccess)1>)
  sofa::simulation::SolveVisitor::processSolver(sofa::simulation::Node*, sofa::core::behavior::OdeSolver*)
  void sofa::simulation::Visitor::for_each<sofa::simulation::SolveVisitor, sofa::simulation::Node, sofa::simulation::NodeSequence<sofa::core::behavior::OdeSolver, false>, sofa::core::behavior::OdeSolver>(sofa::simulation::SolveVisitor*, sofa::simulation::Node*, sofa::simulation::NodeSequence<sofa::core::behavior::OdeSolver, false> const&, void (sofa::simulation::SolveVisitor::*)(sofa::simulation::Node*, sofa::core::behavior::OdeSolver*), std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
  sofa::simulation::SolveVisitor::processNodeTopDown(sofa::simulation::Node*)
  sofa::simulation::Node::executeVisitorTopDown(sofa::simulation::Visitor*, std::__cxx11::list<sofa::simulation::Node*, std::allocator<sofa::simulation::Node*> >&, std::map<sofa::simulation::Node*, sofa::simulation::Node::StatusStruct, std::less<sofa::simulation::Node*>, std::allocator<std::pair<sofa::simulation::Node* const, sofa::simulation::Node::StatusStruct> > >&, sofa::simulation::Node*)
  sofa::simulation::Node::executeVisitorTopDown(sofa::simulation::Visitor*, std::__cxx11::list<sofa::simulation::Node*, std::allocator<sofa::simulation::Node*> >&, std::map<sofa::simulation::Node*, sofa::simulation::Node::StatusStruct, std::less<sofa::simulation::Node*>, std::allocator<std::pair<sofa::simulation::Node* const, sofa::simulation::Node::StatusStruct> > >&, sofa::simulation::Node*)
  sofa::simulation::Node::doExecuteVisitor(sofa::simulation::Visitor*, bool)
  sofa::simulation::DefaultAnimationLoop::solve(sofa::core::ExecParams const*, double) const
  sofa::simulation::DefaultAnimationLoop::animate(sofa::core::ExecParams const*, double) const
  sofa::simulation::DefaultAnimationLoop::step(sofa::core::ExecParams const*, double)
  sofa::simulation::node::animate(sofa::simulation::Node*, double)
  sofaglfw::SofaGLFWBaseGUI::runLoop(unsigned long)
  sofaglfw::SofaGLFWGUI::mainLoop()
  sofa::gui::common::GUIManager::MainLoop(boost::intrusive_ptr<sofa::simulation::Node>, char const*)
  __libc_start_main

@leobois67 could you please update us on the status on your machine?

examples/jax/forcefield.py

leobois67 · 2026-01-05T10:14:42Z

I just checked and it still works on my machine, both on CPU and GPU.

To be sure that addKToMatrix() is to blame, have you tried a version without the stiffness matrix assembly?
python3 SofaPython3/examples/jax/forcefield.py --method=implicit-matrix-free
python3 SofaPython3/examples/jax/forcefield.py --method=explicit

leobois67 · 2026-01-05T13:16:02Z

You can come to me next time you work on this PR, but in case I am not available, here are some other quick suggestions:

Try changing the number of particles to see if something changes: --particles=100 (default 1000)
Try one of the other options for addKToMatrix by uncommenting one of them, and commenting the current one. (You may want to lower the number of particles since the other options are slower.)
One way a segfault could occur is if the matrix that addKToMatrix outputs is bigger than the one expected by the binding. I don’t see a reason for that to happen though.

hugtalbot · 2026-01-29T18:00:34Z

Is that what we are supposed to see? @leobois67

Screencast.from.2026-01-29.18-59-53.webm

leobois67 · 2026-01-30T14:29:55Z

No it's not! Each particle is attached to the origin with a spring, so they should be kind of oscillating like a pendulum + oscillating due to the spring expanding and contracting; which is not what I see in the video.

Maybe try different options to check whether you get the same behavior or not?
E.g.

python3 SofaPython3/examples/jax/forcefield.py --method=explicit --particles=10

commit 833bd69 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Fri Feb 27 00:40:59 2026 +0100 [doc] Use sphinx-design in order to fix doc generation (#586) Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit d982bc8 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Feb 26 23:11:32 2026 +0100 Remove unappropriate comment (#591) commit ae7e8e1 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Feb 26 18:39:56 2026 +0100 Ignore the meshing scenes (#587) commit 6593f34 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Feb 26 18:38:58 2026 +0100 [RPyC] Add new exposed methods to SOFA server (#570) * Add a way to init the root remotly * Add method to change working dir on remote commit bdbaece Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Feb 26 10:29:37 2026 +0100 Add python modules that uses the CGAL binding (#567) * Add python modules that uses the CGAL binding instead of the CGALPlugin to generate mesh from a pointcloud or a surfacic polyhedron * Add a SOFA scene opening and using the generated mesh with CGAL * Sort all files into a meshing repo and add a Gmsh example * Make display optionnal * Fix typo --------- Co-authored-by: hugtalbot <hugo.talbot@inria.fr> Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> commit 617d506 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Thu Feb 26 10:29:13 2026 +0100 [examples] Add a thermo-elastic example (#204) * [examples] Add a thermo-elastic example * minor comment to remove * Get compatible with #198 and add legend * Remove option of topo changes * Update scene further to recently introduced templates in Mass * avoid using strings * update scene with imgui, linkpath etc --------- Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit 4fb7e89 Author: leobois67 <leo.bois@inria.fr> Date: Wed Feb 25 18:58:24 2026 +0100 Example of a ForceField implemented with JAX (#557) * Add the example * Igne jax example on main CI * Fix ignoring the jax examples * Fix addKToMatrix() with different options * Apply suggestions from code review --------- Co-authored-by: Paul Baksic <paul.baksic@outlook.fr> Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit b3a79c6 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Wed Feb 25 15:50:54 2026 +0100 Fix code block indentation for createScene function (#582) Updated code block formatting for createScene function. This should fix the doc generation commit fc75967 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:51 2026 +0100 fix wrong parameter order in addDForce and addKToMatrix (#579) * fix wrong parameter order in addDForce * also fix addKToMatrix commit ca2be7c Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:37 2026 +0100 Add bindings for prism and pyramid topology functions (#578) commit 346d298 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:20 2026 +0100 ordering field is deprecated, use NaturalOrderingMethod instead (#577) commit 959b4cd Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:02 2026 +0100 Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler (#576) * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler. * cleaning * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler. commit c0dc30e Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Feb 12 10:43:05 2026 +0100 Clean getRecords in Timer module (#561) * Clean getRecords in Timer module * remove extra /** commit d2ba475 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Feb 4 23:59:52 2026 +0100 include `sofa/core/fwd.h` instead of the forward declaration (#575) commit c209f3a Author: Frederick Roy <fredroy@users.noreply.github.com> Date: Wed Feb 4 22:50:20 2026 +0900 fix mixed-up quote/doublequote, plus consistent quoting (#574) commit 7760402 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Tue Feb 3 08:05:33 2026 +0100 Generalize use of initRoot (#566) Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit b29cfe5 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Jan 29 20:19:43 2026 +0100 Remove the implementation of getPathName as it is now in BaseData (#556) See: sofa-framework/sofa#5759 Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit c7fb254 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Jan 29 20:08:22 2026 +0100 Introduce an example of a custom message handler (#569) commit f4e90d4 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Thu Jan 29 09:00:43 2026 +0100 Follow lifecycle v26.06 deprecated header (#571) Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit 8bf0162 Author: Frederick Roy <fredroy@users.noreply.github.com> Date: Wed Jan 7 06:48:05 2026 +0900 remove import of scipy.misc, which is deprecated (#564) commit 1016b94 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Dec 18 16:37:52 2025 +0100 Update advanced_timer.py with comments and fix deprecated data (#562) commit 29c4e87 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Dec 16 12:01:32 2025 +0100 Add example scene using CCDTightInclusion (#559) * Add example scene using CCDTightInclusion * Replace ProjectedGaussSeidel with BlockGaussSeidel * Fix scene error commit d38d3c4 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Dec 12 11:53:20 2025 +0100 Apply name changing on code and examples (#560) commit b09d921 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Nov 13 15:28:05 2025 +0100 Add Quaternion to python factory so we can create data field with this type. (#555) commit a66c054 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Nov 13 15:27:48 2025 +0100 Improve error message when the SetDataFromArray does not match (#554) * Improve error message when the SetDataFromArray does not match * Apply suggestions from code review --------- Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit 746745c Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Nov 13 15:27:28 2025 +0100 Add context manager behavior to Node() (#545) This allows to use with statment to have good looking indentation in sofa scene. eg: with Node("YOLO") as w: w.addObject("YY") commit af98611 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Nov 13 15:25:55 2025 +0100 Support more types of linear systems (#542) * Support more types of linear systems * add support for BTD commit ae6b330 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Nov 13 10:35:28 2025 +0100 add missing required plugin in test (#558) commit 6ef05ed Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Tue Nov 11 14:34:26 2025 +0100 Fix binding after #5648 (#528) Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit 5029c05 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Nov 6 10:24:24 2025 +0100 Add validation for numpy array as return type in AddKToMatrix bindings (#541) * Add validation for numpy array as return type in AddKToMatrix bindings * Refactor AddKToMatrix return type validation and simplify conditional checks commit 8ba1e2c Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Oct 30 16:06:25 2025 +0100 Register in the PythonFactory Rigid3::Coord (#544) Because currently only Rigid3::VecCoord was supported. commit 72ed0e6 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Oct 30 16:06:16 2025 +0100 Add proper return value to event overriden in python (#543) Currently the controllers implemented in python cannot report the the event processing system in sofa that there is no need anymore to process the event. The PR allows to do. Every onXXXXXX() that implement an event processor can no return a value. If it is None or False then processing of event use this to continue the propagation If it is True (aka: has been processed/no more further), then the SOFA system will not proposed to other component to process the same event

commit 539badc Author: bakpaul <paul.baksic@outlook.fr> Date: Mon Mar 2 09:10:20 2026 +0100 Squashed commit of the following: commit 833bd69 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Fri Feb 27 00:40:59 2026 +0100 [doc] Use sphinx-design in order to fix doc generation (sofa-framework#586) Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit d982bc8 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Feb 26 23:11:32 2026 +0100 Remove unappropriate comment (sofa-framework#591) commit ae7e8e1 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Feb 26 18:39:56 2026 +0100 Ignore the meshing scenes (sofa-framework#587) commit 6593f34 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Feb 26 18:38:58 2026 +0100 [RPyC] Add new exposed methods to SOFA server (sofa-framework#570) * Add a way to init the root remotly * Add method to change working dir on remote commit bdbaece Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Feb 26 10:29:37 2026 +0100 Add python modules that uses the CGAL binding (sofa-framework#567) * Add python modules that uses the CGAL binding instead of the CGALPlugin to generate mesh from a pointcloud or a surfacic polyhedron * Add a SOFA scene opening and using the generated mesh with CGAL * Sort all files into a meshing repo and add a Gmsh example * Make display optionnal * Fix typo --------- Co-authored-by: hugtalbot <hugo.talbot@inria.fr> Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> commit 617d506 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Thu Feb 26 10:29:13 2026 +0100 [examples] Add a thermo-elastic example (sofa-framework#204) * [examples] Add a thermo-elastic example * minor comment to remove * Get compatible with sofa-framework#198 and add legend * Remove option of topo changes * Update scene further to recently introduced templates in Mass * avoid using strings * update scene with imgui, linkpath etc --------- Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit 4fb7e89 Author: leobois67 <leo.bois@inria.fr> Date: Wed Feb 25 18:58:24 2026 +0100 Example of a ForceField implemented with JAX (sofa-framework#557) * Add the example * Igne jax example on main CI * Fix ignoring the jax examples * Fix addKToMatrix() with different options * Apply suggestions from code review --------- Co-authored-by: Paul Baksic <paul.baksic@outlook.fr> Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit b3a79c6 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Wed Feb 25 15:50:54 2026 +0100 Fix code block indentation for createScene function (sofa-framework#582) Updated code block formatting for createScene function. This should fix the doc generation commit fc75967 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:51 2026 +0100 fix wrong parameter order in addDForce and addKToMatrix (sofa-framework#579) * fix wrong parameter order in addDForce * also fix addKToMatrix commit ca2be7c Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:37 2026 +0100 Add bindings for prism and pyramid topology functions (sofa-framework#578) commit 346d298 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:20 2026 +0100 ordering field is deprecated, use NaturalOrderingMethod instead (sofa-framework#577) commit 959b4cd Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Feb 13 03:42:02 2026 +0100 Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler (sofa-framework#576) * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler. * cleaning * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler. commit c0dc30e Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Feb 12 10:43:05 2026 +0100 Clean getRecords in Timer module (sofa-framework#561) * Clean getRecords in Timer module * remove extra /** commit d2ba475 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Feb 4 23:59:52 2026 +0100 include `sofa/core/fwd.h` instead of the forward declaration (sofa-framework#575) commit c209f3a Author: Frederick Roy <fredroy@users.noreply.github.com> Date: Wed Feb 4 22:50:20 2026 +0900 fix mixed-up quote/doublequote, plus consistent quoting (sofa-framework#574) commit 7760402 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Tue Feb 3 08:05:33 2026 +0100 Generalize use of initRoot (sofa-framework#566) Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit b29cfe5 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Jan 29 20:19:43 2026 +0100 Remove the implementation of getPathName as it is now in BaseData (sofa-framework#556) See: sofa-framework/sofa#5759 Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit c7fb254 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Jan 29 20:08:22 2026 +0100 Introduce an example of a custom message handler (sofa-framework#569) commit f4e90d4 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Thu Jan 29 09:00:43 2026 +0100 Follow lifecycle v26.06 deprecated header (sofa-framework#571) Co-authored-by: hugtalbot <hugo.talbot@inria.fr> commit 8bf0162 Author: Frederick Roy <fredroy@users.noreply.github.com> Date: Wed Jan 7 06:48:05 2026 +0900 remove import of scipy.misc, which is deprecated (sofa-framework#564) commit 1016b94 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Dec 18 16:37:52 2025 +0100 Update advanced_timer.py with comments and fix deprecated data (sofa-framework#562) commit 29c4e87 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Dec 16 12:01:32 2025 +0100 Add example scene using CCDTightInclusion (sofa-framework#559) * Add example scene using CCDTightInclusion * Replace ProjectedGaussSeidel with BlockGaussSeidel * Fix scene error commit d38d3c4 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Dec 12 11:53:20 2025 +0100 Apply name changing on code and examples (sofa-framework#560) commit b09d921 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Nov 13 15:28:05 2025 +0100 Add Quaternion to python factory so we can create data field with this type. (sofa-framework#555) commit a66c054 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Nov 13 15:27:48 2025 +0100 Improve error message when the SetDataFromArray does not match (sofa-framework#554) * Improve error message when the SetDataFromArray does not match * Apply suggestions from code review --------- Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit 746745c Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Nov 13 15:27:28 2025 +0100 Add context manager behavior to Node() (sofa-framework#545) This allows to use with statment to have good looking indentation in sofa scene. eg: with Node("YOLO") as w: w.addObject("YY") commit af98611 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Nov 13 15:25:55 2025 +0100 Support more types of linear systems (sofa-framework#542) * Support more types of linear systems * add support for BTD commit ae6b330 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Nov 13 10:35:28 2025 +0100 add missing required plugin in test (sofa-framework#558) commit 6ef05ed Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Tue Nov 11 14:34:26 2025 +0100 Fix binding after #5648 (sofa-framework#528) Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit 5029c05 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Thu Nov 6 10:24:24 2025 +0100 Add validation for numpy array as return type in AddKToMatrix bindings (sofa-framework#541) * Add validation for numpy array as return type in AddKToMatrix bindings * Refactor AddKToMatrix return type validation and simplify conditional checks commit 8ba1e2c Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Oct 30 16:06:25 2025 +0100 Register in the PythonFactory Rigid3::Coord (sofa-framework#544) Because currently only Rigid3::VecCoord was supported. commit 72ed0e6 Author: Damien Marchal <damien.marchal@univ-lille1.fr> Date: Thu Oct 30 16:06:16 2025 +0100 Add proper return value to event overriden in python (sofa-framework#543) Currently the controllers implemented in python cannot report the the event processing system in sofa that there is no need anymore to process the event. The PR allows to do. Every onXXXXXX() that implement an event processor can no return a value. If it is None or False then processing of event use this to continue the propagation If it is True (aka: has been processed/no more further), then the SOFA system will not proposed to other component to process the same event

leobois67 added 2 commits November 7, 2025 16:50

Add the example

58349bb

Merge branch 'master' into jax-forcefield-example

c05520a

alxbilger added the pr: status to review label Nov 13, 2025

bakpaul and others added 2 commits November 13, 2025 16:38

Igne jax example on main CI

d5ae8bb

Fix ignoring the jax examples

02bbcb1

Fix addKToMatrix() with different options

0342ee7

hugtalbot added the enhancement New feature or request label Dec 4, 2025

Merge branch 'master' into jax-forcefield-example

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hugtalbot added pr: status ready and removed pr: status to review labels Feb 25, 2026

hugtalbot merged commit 4fb7e89 into sofa-framework:master Feb 25, 2026

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