compute force using mapping graph

Author: alxbilger

Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp

@@ -82,6 +82,8 @@ void EulerImplicitSolver::cleanup()
 
 void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult)
 {
+    m_mappingGraph.build(this->getContext());
+
 #ifdef SOFA_DUMP_VISITOR_INFO
     sofa::simulation::Visitor::printNode("SolverVectorAllocation");
 #endif
@@ -126,7 +128,7 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
         SCOPED_TIMER("ComputeForce");
         mop->setImplicit(true); // this solver is implicit
         // compute the net forces at the beginning of the time step
-        mop.computeForce(f);                                                               //f = Kx + Bv
+        mop.computeForce(m_mappingGraph, f, true, true, nullptr);
 
         msg_info() << "initial f = " << f;
     }

Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.h

@@ -22,8 +22,8 @@
 #pragma once
 #include <sofa/component/odesolver/backward/config.h>
 #include <sofa/core/behavior/LinearSolverAccessor.h>
-
 #include <sofa/core/behavior/OdeSolver.h>
+#include <sofa/simulation/MappingGraph.h>
 
 namespace sofa::simulation::common
 {
@@ -178,6 +178,8 @@ class SOFA_COMPONENT_ODESOLVER_BACKWARD_API EulerImplicitSolver :
     void reallocSolutionVector(sofa::simulation::common::VectorOperations* vop);
     void reallocRightHandSideVector(sofa::simulation::common::VectorOperations* vop);
     void reallocResidualVector(sofa::simulation::common::VectorOperations* vop);
+
+    sofa::simulation::MappingGraph m_mappingGraph;
 };
 
 } // namespace sofa::component::odesolver::backward

Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.cpp

@@ -291,7 +291,7 @@ void MechanicalOperations::computeForce(const MappingGraph& mappingGraph,
 
     /**
      * Compute f += f(x) on all force fields in the mapping graph. This operation can be performed
-     * in any order on all states in the graph, and can be parallelized among groups.
+     * in any order on all states in the graph, and can be parallelized among component groups.
      */
     mappingGraph.algorithms.traverseComponentGroups_([&](core::behavior::BaseForceField& forceField)
     {