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[Core] Second-order elements (physics, visualization) - #6172

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th-skam merged 32 commits into
sofa-framework:masterfrom
alxbilger:quadratic2
Sep 4, 2026
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[Core] Second-order elements (physics, visualization)#6172
th-skam merged 32 commits into
sofa-framework:masterfrom
alxbilger:quadratic2

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@alxbilger

@alxbilger alxbilger commented Jul 6, 2026 •
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Quadratic tetrahedra:

quadratic_beam

Quadratic hexahedra:
image

The system matrix:
image

Bunny with quadratic tetrahedra:

LinearToHigherOrderElements_0000

[with-all-tests]

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Reviewers will merge this pull-request only if

  • it builds with SUCCESS for all platforms on the CI.
  • it does not generate new warnings.
  • it does not generate new unit test failures.
  • it does not generate new scene test failures.
  • it does not break API compatibility.
  • it is more than 1 week old (or has fast-merge label).

@alxbilger alxbilger added pr: status to review To notify reviewers to review this pull-request topic for next dev-meeting PR to be discussed in sofa-dev meeting labels Jul 6, 2026
@alxbilger alxbilger changed the title [Core] Start discussion about higher-order topologies [Core] Higher-order topologies Jul 20, 2026
@alxbilger alxbilger changed the title [Core] Higher-order topologies [Core] Second-order elements (physics, visualization) Jul 21, 2026
@alxbilger alxbilger added pr: new feature Implement a new feature pr: highlighted in next release Highlight this contribution in the notes of the upcoming release labels Jul 23, 2026
alxbilger added 23 commits July 24, 2026 11:27
@alxbilger
add quadratic topology
66c5d0b
@alxbilger
implement getElementsRaw in dynamic topologies
c742a79
@alxbilger
fix compilation
2b6cc38
@alxbilger
skeleton to convert linear elements to quadratic
a79478d
@alxbilger
engine to generate quadratic tetrahedra
2d7cd0d
@alxbilger
support edges and triangles
6e20dd1
@alxbilger
support quads and hexas
6c9b8be
@alxbilger
add drawing function
420dbd8
@alxbilger
variation
9302fe2
@alxbilger
clean example
b327cd0
@alxbilger
fix warning
5792c9b
@alxbilger
adding FEM class for quadratic tetrahedra
a92098b
@alxbilger
support quadratic tetrahedra in LinearSmallStrainFEMForceField and FE…
9424565 
…MMass
@alxbilger
support quadratic tetrahedra in CorotationalFEMForceField
8a39971
@alxbilger
support more quadratic elements
6f3cdd1
@alxbilger
fixes
27aac6d
@alxbilger
fix finite element definition for quadratic hexahedron
67c22e4
@alxbilger
options to compute only some types of elements
90a2085
@alxbilger
add tests
af7dcc9
@alxbilger
more tests
9a4e5a9
@alxbilger
quadrature points from 2x2x2 to 3x3x3
71d54b7
@alxbilger
fix initial topology
a7479dd
@alxbilger
fix compilation on CI
657e856
@alxbilger
alxbilger marked this pull request as ready for review July 24, 2026 12:51
@alxbilger

alxbilger commented Jul 28, 2026

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[ci-build][with-all-tests]

@alxbilger alxbilger removed the topic for next dev-meeting PR to be discussed in sofa-dev meeting label Jul 28, 2026
@th-skam
th-skam self-requested a review September 3, 2026 08:44
th-skam
th-skam requested changes Sep 3, 2026
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@th-skam th-skam left a comment •
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So there's an answer from MMS: The [L2, H1, Energy] norm convergence rates we want are [3, 2, 2].

Hexa, Tetra, Quad, Tri are ok:

Image Image Image Image

Edges are not (reason below):

Image

Comment thread Sofa/framework/FEM/src/sofa/fem/FiniteElement[QuadraticEdge].h
alxbilger and others added 2 commits September 3, 2026 16:12
@alxbilger @th-skam
Fix wrong shape function for edges
c845103 
Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>
@alxbilger
remove quadratic prism/pyramid FEM because not tested
a9301e1
th-skam
th-skam approved these changes Sep 4, 2026
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Image

@th-skam th-skam added pr: status ready Approved a pull-request, ready to be squashed and removed pr: status to review To notify reviewers to review this pull-request labels Sep 4, 2026
@th-skam
th-skam merged commit 5d6be40 into sofa-framework:master Sep 4, 2026
13 of 17 checks passed
damienmarchal pushed a commit to CRIStAL-PADR/sofa that referenced this pull request Sep 9, 2026
@alxbilger @fredroy
@th-skam @damienmarchal
[Core] Second-order elements (physics, visualization) (sofa-framework…
477eb50 
…#6172)

* add quadratic topology

* implement getElementsRaw in dynamic topologies

* fix compilation

* skeleton to convert linear elements to quadratic

* engine to generate quadratic tetrahedra

* support edges and triangles

* support quads and hexas

* add drawing function

* variation

* clean example

* fix warning

* adding FEM class for quadratic tetrahedra

* support quadratic tetrahedra in LinearSmallStrainFEMForceField and FEMMass

* support quadratic tetrahedra in CorotationalFEMForceField

* support more quadratic elements

* fixes

* fix finite element definition for quadratic hexahedron

* options to compute only some types of elements

* add tests

* more tests

* quadrature points from 2x2x2 to 3x3x3

* fix initial topology

* fix compilation on CI

* remove OglSceneFrame

* add validation for tetrahedra

* add validation for hexahedra

* missing files

* Fix wrong shape function for edges

Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

* remove quadratic prism/pyramid FEM because not tested

---------

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>
Lucas-TJ pushed a commit to Lucas-TJ/sofa that referenced this pull request Sep 14, 2026
@alxbilger @fredroy
@th-skam @Lucas-TJ
[Core] Second-order elements (physics, visualization) (sofa-framework…
580ed94 
…#6172)

* add quadratic topology

* implement getElementsRaw in dynamic topologies

* fix compilation

* skeleton to convert linear elements to quadratic

* engine to generate quadratic tetrahedra

* support edges and triangles

* support quads and hexas

* add drawing function

* variation

* clean example

* fix warning

* adding FEM class for quadratic tetrahedra

* support quadratic tetrahedra in LinearSmallStrainFEMForceField and FEMMass

* support quadratic tetrahedra in CorotationalFEMForceField

* support more quadratic elements

* fixes

* fix finite element definition for quadratic hexahedron

* options to compute only some types of elements

* add tests

* more tests

* quadrature points from 2x2x2 to 3x3x3

* fix initial topology

* fix compilation on CI

* remove OglSceneFrame

* add validation for tetrahedra

* add validation for hexahedra

* missing files

* Fix wrong shape function for edges

Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

* remove quadratic prism/pyramid FEM because not tested

---------

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>
Lucas-TJ pushed a commit to Lucas-TJ/sofa that referenced this pull request Sep 15, 2026
@alxbilger @fredroy
@th-skam @Lucas-TJ
[Core] Second-order elements (physics, visualization) (sofa-framework…
e12605d 
…#6172)

* add quadratic topology

* implement getElementsRaw in dynamic topologies

* fix compilation

* skeleton to convert linear elements to quadratic

* engine to generate quadratic tetrahedra

* support edges and triangles

* support quads and hexas

* add drawing function

* variation

* clean example

* fix warning

* adding FEM class for quadratic tetrahedra

* support quadratic tetrahedra in LinearSmallStrainFEMForceField and FEMMass

* support quadratic tetrahedra in CorotationalFEMForceField

* support more quadratic elements

* fixes

* fix finite element definition for quadratic hexahedron

* options to compute only some types of elements

* add tests

* more tests

* quadrature points from 2x2x2 to 3x3x3

* fix initial topology

* fix compilation on CI

* remove OglSceneFrame

* add validation for tetrahedra

* add validation for hexahedra

* missing files

* Fix wrong shape function for edges

Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

* remove quadratic prism/pyramid FEM because not tested

---------

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>
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