Hugo

Based on https://github.com/sofa-framework/sofa/pull/5446 Functions - addForce - addDForce - addKToMatrix - addBToMatrix - buildStiffnessMatrix - buildDampingMatrix - getPotentialEnergy [ci-depends-on https://github.com/sofa-framework/SofaSphFluid/pull/16] [ci-depends-on https://github.com/sofa-framework/Registration/pull/27] [ci-depends-on https://github.com/SofaDefrost/ModelOrderReduction/pull/162] [ci-depends-on https://github.com/sofa-framework/BeamAdapter/pull/194] [ci-depends-on https://github.com/SofaDefrost/SoftRobots/pull/330] [ci-depends-on https://github.com/sofa-framework/SofaPython3/pull/500]...

### Discussed in https://github.com/sofa-framework/sofa/discussions/5536 Originally posted by **qhz-DUT** June 13, 2025 Hello, after I click "animate", hold down shift and click the soft robot with the left mouse button to...

[Mass,MechanicalLoad] Use enumeration to clarify the code

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Revive #4918 Use `enum class` in both UniformMass and ConstantForceField + some minor cleaning ______________________________________________________ By submitting this pull request, I acknowledge that **I have read, understand, and agree [SOFA...

`ODESolver::solve(params,dt)` used in AnimateVisitor and MechanicalIntegrationVisitor (only used in CollisionAnimationLoop and its MT version) ➡ keep only one makes sense (full signature with VecIds)

[Framework] Apply template method design pattern to BaseMass

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Apply template method design pattern to BaseMass and its API: - addMDx - addMToMatrix - buildMassMatrix - accFromF - addGravityToV - getKineticEnergy - getPotentialEnergy - getMomentum - initGnuplot - exportGnuplot...

This originally simple-minded PR fails due to inconsistency between sofa::helper::vector and Vec (pushback) ```cpp sofa::type::vector< sofa::type::vector< SReal > > p_baryCoefs; ... p_baryCoefs.push_back(a_baryCoefs); ``` where : ``` auto a_baryCoefs = computeTriangleBarycoefs(ind_ta,...

[Presets] Activate Cosserat and clean postinstall-fixup

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This should close #5113 and it updates the configuration to match SOFA Technical Member's vote. ______________________________________________________ By submitting this pull request, I acknowledge that **I have read, understand, and agree...

[MechanicalLoad] Factorize damping forcefields

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Revive #4920 [ci-build][with-all-tests] ______________________________________________________ By submitting this pull request, I acknowledge that **I have read, understand, and agree [SOFA Developer Certificate of Origin (DCO)](https://github.com/sofa-framework/sofa/blob/master/CONTRIBUTING.md#sofa-developer-certificate-of-origin-dco)**. ______________________________________________________ **Reviewers will merge this pull-request...

Related to https://github.com/sofa-framework/sofa/pull/5485

[ODESolver] Lifecycle v25.12 : disable deprecated data

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[ci-depends-on https://github.com/sofa-framework/SofaPython3/pull/534] ______________________________________________________ By submitting this pull request, I acknowledge that **I have read, understand, and agree [SOFA Developer Certificate of Origin (DCO)](https://github.com/sofa-framework/sofa/blob/master/CONTRIBUTING.md#sofa-developer-certificate-of-origin-dco)**. ______________________________________________________ **Reviewers will merge this pull-request only...