Squashed commit of the following:

commit 0806b07 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Feb 21 15:55:34 2025 +0100 [github] Use token for performance regression launching (sofa-framework#5287) Try fixing action commit 9f56fca Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Feb 21 15:16:12 2025 +0100 [github] Add workflow for performance testing launch (sofa-framework#5286) * Add workflow for performance testing launch * Fix github token and sha commit 700b6cd Author: Olivier Roussel <olivier.roussel@inria.fr> Date: Thu Feb 20 23:27:00 2025 +0100 [IO.Mesh] Fix missing `iomanip` header in tests (sofa-framework#5279) Fix missing header commit 5307e85 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Wed Feb 19 14:25:24 2025 +0100 [ODESolver] Update data comment in EulerImplicit (sofa-framework#5282) commit fee9657 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Feb 19 13:48:07 2025 +0100 [ODESolver] Add option to compute residual at the end of the solving (sofa-framework#5263) commit a229972 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Feb 19 12:20:51 2025 +0100 [Helper] Deprecate findOrCreateAValidPath and introduce clearer functions (sofa-framework#5264) * [Helper] Fix findOrCreateAValidPath when given a file path * [Helper] Fix findOrCreateAValidPath when given a file path * Introduce clearer function names * deprecate findOrCreateAValidPath * restore previous findOrCreateAValidPath commit 4ee24f6 Author: Frederick Roy <fredroy@users.noreply.github.com> Date: Wed Feb 19 20:15:38 2025 +0900 [All] Fix compilation with FLOATING_POINT_TYPE=float (sofa-framework#5269) fix compilation with FLOATING_POINT_TYPE=float commit ef7ff21 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Wed Feb 19 09:52:47 2025 +0100 [SceneUtility] Remove *AliasComponent (sofa-framework#5241) * [SceneUtility] Remove *AliasComponent * Update in the ComponentChange so that it appears as Removed * remove associated scenes commit aa36098 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Feb 19 00:04:17 2025 +0100 [SceneChecking] Check if a Node has an empty name (sofa-framework#5276) commit f2f0b10 Author: EulalieCoevoet <eulalie.coevoet@gmail.com> Date: Wed Feb 12 12:14:48 2025 +0100 [visual] Adds features to LineAxis and DrawTools (sofa-framework#5258) * [visual-gl] LineAxis & DrawTool: - fixes usage of thickness - new feature: infinite lines - new feature: vanishing infinite line - fixes typo * [visual] LineAxis: cleaning commit b4e8b98 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Feb 12 09:35:16 2025 +0100 [GUI] Remove Qt and make SofaImGUI as default viewer (sofa-framework#5176) * Add possibility to fetch and add by default for external plugins and set SofaGLFW as ON by default * Remove Qt-based GUI from sources * Add way to pull and build Sofa.Qt plugin * Fix compilation * Change order so SofaGLFW and SofaIMGUI are already in the target stack when runSofa produce the plugin_list.cong.default * Merge master * Make the packaging possible without Qt * Remove GuiDataRepository that was Qt specific -> will need to include it to the Qt gui plugin * Add fetchable Qt commit d2f194d Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Feb 12 07:26:17 2025 +0100 [Contact] Clean FrictionContact (sofa-framework#5261) * [Contact] Replace double by SReal * add override keyword on destructor commit 62264fb Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Mon Feb 10 14:20:15 2025 +0100 [StateContainer] Allow coord difference in vOp for rigids (sofa-framework#5253) * [StateContainer] Allow coord difference in vOp for rigids * check that DataTypes support coordDifference commit 5120328 Author: erik pernod <erik.pernod@gmail.com> Date: Mon Feb 10 14:19:28 2025 +0100 [Topology.Container] Add new method computeSegmentTriangleIntersectionInPlane in TriangleSetGeometryAlgorithm (sofa-framework#5188) * Update TriangleSetGeometryAlgorithms.h * Update TriangleSetGeometryAlgorithms.inl * [TopologyTest] Add comments * [Topology.Dynamic_test] factorize some code in TriangleSetTopology_test * [Topology.Dynamic_test] Add some tests in TriangleSetTopology_test to test adding and removing triangles * typo errors * [Topology.Dynamic_test] Add tests in TriangleSetTopology_test tto test TriangleSegmentIntersection inside same plane or with projection * Update TriangleSetTopology_test.cpp * Update TriangleSetTopology_test.cpp * Update TriangleSetTopology_test.cpp * Fix namespace commit 5448a14 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Jan 31 15:10:05 2025 +0100 [StateContainer] Extend the possible vector operations in vOp (sofa-framework#5237) * missing test * remove duplicated test * [StateContainer] Extend the possible vector operations in vOp --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 6af25d5 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Jan 31 15:04:36 2025 +0100 [Simulation] Trigger warning when Node already contains component (sofa-framework#5212) * [Simulation] Trigger error when Node already contains component * also mention the class name * convert error to warning * fix STLExporter_test commit 9ceb6dc Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Jan 31 15:04:21 2025 +0100 [SofaCUDA] Print CUDA standard at init of the module (sofa-framework#5166) * [SofaCUDA] Print CUDA standard at init of the module * add an empty scene loading the plugin * compiler output * remove empty scene commit 3eecf8f Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Jan 29 22:18:50 2025 +0100 Bump version of Tracy from v0.9.1 to v0.11.1 (sofa-framework#5249) commit 3659403 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Jan 29 21:39:51 2025 +0100 [Core] Remove some static functions create (sofa-framework#5239) commit 989a885 Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Jan 29 21:03:59 2025 +0100 [StateContainer] Extensive tests of MechanicalObject::vOp (sofa-framework#5233) * [StateContainer] Extensive tests of MechanicalObject::vOp * fix wrong name * fix test * Use variable for the coefficients * missing test * remove duplicated test commit 38c295d Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Wed Jan 29 19:54:39 2025 +0100 [Playback] Remove deprecated macro (sofa-framework#5231) commit ffddff7 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Jan 29 19:48:23 2025 +0100 [CMake] Add possibility to remove auto installing of resource files (sofa-framework#5230) Add possibility to remove auto installing of ressource files commit 7c6bddc Author: Alex Bilger <alxbilger@users.noreply.github.com> Date: Fri Jan 24 14:24:02 2025 +0100 [ODESolver] Remove repeated class name in log messages (sofa-framework#5242)
bakpaul · Feb 28, 2025 · eada37f · eada37f
1 parent b4e8d43
commit eada37f
Show file tree

Hide file tree

Showing 230 changed files with 2,380 additions and 33,470 deletions.
diff --git a/.github/workflows/launch-perf-test.yml b/.github/workflows/launch-perf-test.yml
@@ -0,0 +1,21 @@
+name: Launch performance testing
+on:
+  push:
+    branches:
+      - master
+jobs:
+  run:
+    runs-on: ubuntu-latest
+    if: ${{ github.repository_owner == 'sofa-framework' }}
+
+    steps:
+      - name: Launch performance regression test
+        run: |
+          sudo apt install curl
+          
+          curl -L -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: Bearer ${{ secrets.PERF_REG_TOKEN }}"  \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          https://api.github.com/repos/sofa-framework/PerformanceRegression/dispatches \
+          -d '{"event_type":"Launch perf test from SOFA commit","client_payload":{"branch":"master","commit_hash":"${{ github.sha }}"}}'
diff --git a/...nse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl b/...nse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl
@@ -42,8 +42,8 @@ AugmentedLagrangianResponse<TCollisionModel1,TCollisionModel2,ResponseDataTypes>
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes  >
 AugmentedLagrangianResponse<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::AugmentedLagrangianResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
     : BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, constraint::lagrangian::model::AugmentedLagrangianContactParameters, ResponseDataTypes>(model1,model2,intersectionMethod)
-    , d_mu (initData(&d_mu, 0.0, "mu", "Friction coefficient (0 for frictionless contacts)"))
-    , d_epsilon (initData(&d_epsilon, 0.0, "epsilon", "Penalty parameter. It can be think of as a proportional controller, the Lagrange multiplier is augmented by the violation multiplied by this factor at each solving iteration."))
+    , d_mu (initData(&d_mu, 0.0_sreal, "mu", "Friction coefficient (0 for frictionless contacts)"))
+    , d_epsilon (initData(&d_epsilon, 0.0_sreal, "epsilon", "Penalty parameter. It can be thought of as a proportional controller, the Lagrange multiplier is augmented by the violation multiplied by this factor at each solving iteration."))
 {
 
 }

diff --git a/...ollision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h b/...ollision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h
@@ -49,12 +49,12 @@ class FrictionContact : public BaseUnilateralContactResponse<TCollisionModel1,
     typedef core::behavior::MechanicalState<DataTypes1> MechanicalState1;
     typedef core::behavior::MechanicalState<DataTypes2> MechanicalState2;
 
-    Data<double> d_mu; ///< friction parameter
+    Data<SReal> d_mu; ///< friction parameter
 
     FrictionContact();
     FrictionContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);
 
-    virtual ~FrictionContact() = default;
+    ~FrictionContact() override = default;
 
     virtual constraint::lagrangian::model::UnilateralLagrangianContactParameters getParameterFromDatas() const override;
     virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) override;

diff --git a/...lision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl b/...lision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl
@@ -42,7 +42,7 @@ FrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::FrictionCo
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes  >
 FrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::FrictionContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
     : BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, constraint::lagrangian::model::UnilateralLagrangianContactParameters, ResponseDataTypes>(model1,model2,intersectionMethod)
-      , d_mu (initData(&d_mu, 0.8, "mu", "Friction coefficient (0 for frictionless contacts)"))
+      , d_mu (initData(&d_mu, 0.8_sreal, "mu", "Friction coefficient (0 for frictionless contacts)"))
 {
 
 }

diff --git a/...gian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h b/...gian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h
@@ -68,7 +68,7 @@ class BilateralConstraintResolution3Dof : public ConstraintResolution
 {
 public:
 
-    BilateralConstraintResolution3Dof(sofa::type::Vec3d* vec = nullptr)
+    BilateralConstraintResolution3Dof(sofa::type::Vec3* vec = nullptr)
         : ConstraintResolution(3)
         , _f(vec)
     {
@@ -130,7 +130,7 @@ class BilateralConstraintResolution3Dof : public ConstraintResolution
 
 protected:
     sofa::type::Mat<3,3,SReal> invW;
-    sofa::type::Vec3d* _f;
+    sofa::type::Vec3* _f;
 };
 
 class BilateralConstraintResolutionNDof : public ConstraintResolution

diff --git a/...gian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h b/...gian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h
@@ -49,7 +49,7 @@ using sofa::core::ConstraintParams ;
 using sofa::core::ConstVecCoordId;
 
 using sofa::linearalgebra::BaseVector ;
-using sofa::type::Vec3d;
+using sofa::type::Vec3;
 using sofa::type::Quat ;
 
 using sofa::defaulttype::Rigid3Types ;
@@ -123,7 +123,7 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint<DataTypes
     SingleLink<BilateralLagrangianConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology1; ///< Link to be set to the first topology container in order to support topological changes
     SingleLink<BilateralLagrangianConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology2; ///< Link to be set to the second topology container in order to support topological changes
 
-    std::vector<Vec3d> prevForces;
+    std::vector<Vec3> prevForces;
 
     BilateralLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) ;
     BilateralLagrangianConstraint(MechanicalState* object) ;

diff --git a/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp
@@ -19,6 +19,8 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
+#include <iomanip>
+
 #include <vector>
 using std::vector;
 

diff --git a/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp
@@ -90,25 +90,22 @@ class STLExporter_test : public BaseSimulationTest {
         }
     }
 
-    void checkBasicBehavior(const std::string& filename, std::vector<std::string> pathes){
+    void checkBasicBehavior(const std::string& filename, std::vector<std::string> pathes)
+    {
         dataPath = pathes ;
 
         EXPECT_MSG_NOEMIT(Error, Warning) ;
-        std::stringstream scene1;
-        scene1 <<
-                "<?xml version='1.0'?> \n"
-                "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >       \n"
-                "   <DefaultAnimationLoop/>                                        \n"
-                "   <MechanicalObject position='0 1 2 3 4 5 6 7 8 9'/>             \n"
-                "   <MeshOBJLoader name='loader' filename='mesh/liver-smooth.obj'/> \n"
-                "   <VisualModel src='@loader'/>                                      \n"
-                "   <STLExporter name='exporter1' printLog='false' filename='"<< filename << "' exportAtBegin='true' /> \n"
-                "</Node>                                                           \n" ;
-
-        const Node::SPtr root = SceneLoaderXML::loadFromMemory("testscene", scene1.str().c_str());
-
-        ASSERT_NE(root.get(), nullptr) << scene1.str() ;
-        root->init(sofa::core::execparams::defaultInstance()) ;
+
+        const Node::SPtr root = sofa::simpleapi::createRootNode(sofa::simulation::getSimulation(), "root", {{"gravity", "0 0 0"}});
+        sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
+        sofa::simpleapi::createObject(root, "MechanicalObject", {{"position", "0 1 2 3 4 5 6 7 8 9"}});
+        sofa::simpleapi::createObject(root, "MeshOBJLoader", {{"name", "loader"}, {"filename", "mesh/liver-smooth.obj"}});
+        const Node::SPtr visualNode = sofa::simpleapi::createChild(root, "Visual");
+        sofa::simpleapi::createObject(visualNode, "VisualModel", {{"src", "@../loader"}});
+        sofa::simpleapi::createObject(visualNode, "STLExporter", {{"name", "exporter1"}, {"filename", filename}, {"exportAtBegin", "true"}});
+
+        ASSERT_NE(root.get(), nullptr);
+        sofa::simulation::node::initRoot(root.get());
 
         // SimulationInitDoneEvent is used to trigger exportAtBegin
         SimulationInitDoneEvent endInit;
@@ -119,32 +116,27 @@ class STLExporter_test : public BaseSimulationTest {
 
         for(auto& pathToCheck : pathes)
         {
-            EXPECT_TRUE( FileSystem::exists(pathToCheck) ) << "Problem with '" << pathToCheck  << "'"<< std::endl
-                                                           << "================= scene dump ==========================="
-                                                           << scene1.str() ;
+            EXPECT_TRUE( FileSystem::exists(pathToCheck) );
         }
     }
 
 
-    void checkSimulationWriteEachNbStep(const std::string& filename, std::vector<std::string> pathes, unsigned int numstep){
+    void checkSimulationWriteEachNbStep(const std::string& filename, std::vector<std::string> pathes, unsigned int numstep)
+    {
         dataPath = pathes ;
 
         EXPECT_MSG_NOEMIT(Error, Warning) ;
-        std::stringstream scene1;
-        scene1 <<
-                "<?xml version='1.0'?> \n"
-                "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >       \n"
-                "   <DefaultAnimationLoop/>                                        \n"
-                "   <MechanicalObject position='0 1 2 3 4 5 6 7 8 9'/>             \n"
-                "   <MeshOBJLoader name='loader' filename='mesh/liver-smooth.obj'/> \n"
-                "   <VisualModel src='@loader'/>                                      \n"
-                "   <STLExporter name='exporterA' printLog='false' filename='"<< filename << "' exportEveryNumberOfSteps='5' /> \n"
-                "</Node>                                                           \n" ;
-
-        const Node::SPtr root = SceneLoaderXML::loadFromMemory("testscene", scene1.str().c_str());
+
+        const Node::SPtr root = sofa::simpleapi::createRootNode(sofa::simulation::getSimulation(), "root", {{"gravity", "0 0 0"}});
+        sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
+        sofa::simpleapi::createObject(root, "MechanicalObject", {{"position", "0 1 2 3 4 5 6 7 8 9"}});
+        sofa::simpleapi::createObject(root, "MeshOBJLoader", {{"name", "loader"}, {"filename", "mesh/liver-smooth.obj"}});
+        const Node::SPtr visualNode = sofa::simpleapi::createChild(root, "Visual");
+        sofa::simpleapi::createObject(visualNode, "VisualModel", {{"src", "@../loader"}});
+        sofa::simpleapi::createObject(visualNode, "STLExporter", {{"name", "exporterA"}, {"filename", filename}, {"exportEveryNumberOfSteps", "5"}});
 
         ASSERT_NE(root.get(), nullptr) ;
-        root->init(sofa::core::execparams::defaultInstance()) ;
+        sofa::simulation::node::initRoot(root.get());
 
         for(unsigned int i=0;i<numstep;i++)
         {

diff --git a/...omponent/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp b/...omponent/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.cpp
@@ -28,6 +28,7 @@
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/ScopedAdvancedTimer.h>
 
+#include <iomanip>
 
 namespace sofa::component::odesolver::backward
 {
@@ -44,36 +45,44 @@ EulerImplicitSolver::EulerImplicitSolver()
     , d_trapezoidalScheme( initData(&d_trapezoidalScheme,false,"trapezoidalScheme","Boolean to use the trapezoidal scheme instead of the implicit Euler scheme and get second order accuracy in time (false by default)") )
     , d_solveConstraint(initData(&d_solveConstraint, false, "solveConstraint", "Apply ConstraintSolver (requires a ConstraintSolver in the same node as this solver, disabled by by default for now)") )
     , d_threadSafeVisitor(initData(&d_threadSafeVisitor, false, "threadSafeVisitor", "If true, do not use realloc and free visitors in fwdInteractionForceField."))
+    , d_computeResidual(initData(&d_computeResidual, false, "computeResidual", "If true, the residual is computed at the end of the solving"))
+    , d_residual(initData(&d_residual, std::numeric_limits<SReal>::max(), "residual", "Residual norm at the end of the free-motion solving"))
 {
     f_rayleighStiffness.setOriginalData(&d_rayleighStiffness);
     f_rayleighMass.setOriginalData(&d_rayleighMass);
     f_velocityDamping.setOriginalData(&d_velocityDamping);
     f_firstOrder.setOriginalData(&d_firstOrder);
     f_solveConstraint.setOriginalData(&d_solveConstraint);
-
 }
 
 void EulerImplicitSolver::init()
 {
+    sofa::core::behavior::OdeSolver::init();
+    sofa::core::behavior::LinearSolverAccessor::init();
+
     if (!this->getTags().empty())
     {
-        msg_info() << "EulerImplicitSolver: responsible for the following objects with tags " << this->getTags() << " :";
+        msg_info() << "Responsible for the following objects with tags " << this->getTags() << " :";
         type::vector<core::objectmodel::BaseObject*> objs;
         this->getContext()->get<core::objectmodel::BaseObject>(&objs,this->getTags(),sofa::core::objectmodel::BaseContext::SearchDown);
         for (const auto* obj : objs)
         {
             msg_info() << "  " << obj->getClassName() << ' ' << obj->getName();
         }
     }
-    sofa::core::behavior::OdeSolver::init();
-    sofa::core::behavior::LinearSolverAccessor::init();
+
+    simulation::common::VectorOperations vop(sofa::core::execparams::defaultInstance(), this->getContext());
+    reallocSolutionVector(&vop);
+    reallocRightHandSideVector(&vop);
 }
 
 void EulerImplicitSolver::cleanup()
 {
-    // free the locally created vector x (including eventual external mechanical states linked by an InteractionForceField)
+    // free the locally created vectors (including eventual external mechanical states linked by an InteractionForceField)
     sofa::simulation::common::VectorOperations vop( core::execparams::defaultInstance(), this->getContext() );
     vop.v_free(x.id(), !d_threadSafeVisitor.getValue(), true);
+    vop.v_free(b.id(), !d_threadSafeVisitor.getValue(), true);
+    vop.v_free(m_residual.id(), !d_threadSafeVisitor.getValue(), true);
 }
 
 void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult)
@@ -86,7 +95,6 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
     MultiVecCoord pos(&vop, core::vec_id::write_access::position );
     MultiVecDeriv vel(&vop, core::vec_id::write_access::velocity );
     MultiVecDeriv f(&vop, core::vec_id::write_access::force );
-    MultiVecDeriv b(&vop, true, core::VecIdProperties{"RHS", GetClass()->className});
     MultiVecCoord newPos(&vop, xResult );
     MultiVecDeriv newVel(&vop, vResult );
 
@@ -98,8 +106,8 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
     MultiVecDeriv dx(&vop, core::vec_id::write_access::dx);
     dx.realloc(&vop, !d_threadSafeVisitor.getValue(), true);
 
-    x.realloc(&vop, !d_threadSafeVisitor.getValue(), true, core::VecIdProperties{"solution", GetClass()->className});
-
+    reallocSolutionVector(&vop);
+    reallocRightHandSideVector(&vop);
 
 #ifdef SOFA_DUMP_VISITOR_INFO
     sofa::simulation::Visitor::printCloseNode("SolverVectorAllocation");
@@ -125,7 +133,7 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
         // compute the net forces at the beginning of the time step
         mop.computeForce(f);                                                               //f = Kx + Bv
 
-        msg_info() << "EulerImplicitSolver, initial f = " << f;
+        msg_info() << "initial f = " << f;
     }
 
     {
@@ -141,7 +149,7 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
             // force in the current configuration
             b.eq(f);  // b = f
 
-            msg_info() << "EulerImplicitSolver, f = " << f;
+            msg_info() << "f = " << f;
 
             // add the change of force due to stiffness + Rayleigh damping
             mop.addMBKv(b, core::MatricesFactors::M(-d_rayleighMass.getValue()),
@@ -152,11 +160,11 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
             b.teq(h);                                             // b = h(f + ( rm M + (h+rs) K ) v )
         }
 
-        msg_info() << "EulerImplicitSolver, b = " << b;
+        msg_info() << "b = " << b;
 
         mop.projectResponse(b);                                   // b is projected to the constrained space
 
-        msg_info() << "EulerImplicitSolver, projected b = " << b;
+        msg_info() << "projected b = " << b;
     }
 
     {
@@ -299,10 +307,38 @@ void EulerImplicitSolver::solve(const core::ExecParams* params, SReal dt, sofa::
         mop.projectVelocity(newVel);
         mop.propagateX(newPos);
         mop.propagateV(newVel);
-        msg_info() << "EulerImplicitSolver, final x = " << newPos;
-        msg_info() << "EulerImplicitSolver, final v = " << newVel;
+        msg_info() << "final x = " << newPos;
+        msg_info() << "final v = " << newVel;
+        mop.computeForce(f);
+        msg_info() << "final f = " << f;
+    }
+
+    if (d_computeResidual.getValue())
+    {
+        reallocResidualVector(&vop);
+
+        // r = 0
+        vop.v_clear(m_residual);
+
+        // r += M (v - v_n)
+        {
+            core::behavior::MultiVecDeriv tmp(&vop);
+
+            vop.v_eq(tmp, newVel);
+            vop.v_peq(tmp, vel, -1);
+            mop.addMdx(m_residual, tmp);
+        }
+
+        // r += - dt * F
         mop.computeForce(f);
-        msg_info() << "EulerImplicitSolver, final f = " << f;
+        vop.v_peq(m_residual, f, -dt);
+
+        mop.projectResponse(m_residual);
+
+        vop.v_dot(m_residual, m_residual);
+        d_residual.setValue(vop.finish());
+
+        msg_info() << "Residual norm: " << std::setw(6) << vop.finish();
     }
 }
 
@@ -338,13 +374,29 @@ SReal EulerImplicitSolver::getSolutionIntegrationFactor(int outputDerivative) co
 
 SReal EulerImplicitSolver::getSolutionIntegrationFactor(int outputDerivative, SReal dt) const
 {
-    const SReal vect[3] = { dt, 1, 1/dt};
+    const SReal vect[3] = {dt, 1, 1 / dt};
     if (outputDerivative >= 3)
         return 0;
     else
         return vect[outputDerivative];
 }
 
+void EulerImplicitSolver::reallocSolutionVector(sofa::simulation::common::VectorOperations* vop)
+{
+    x.realloc(vop, !d_threadSafeVisitor.getValue(), true,
+        core::VecIdProperties{.label = "solution", .group = GetClass()->className});
+}
+void EulerImplicitSolver::reallocRightHandSideVector(sofa::simulation::common::VectorOperations* vop)
+{
+    b.realloc(vop, !d_threadSafeVisitor.getValue(), true,
+        core::VecIdProperties{.label = "RHS", .group = GetClass()->className});
+}
+void EulerImplicitSolver::reallocResidualVector(sofa::simulation::common::VectorOperations* vop)
+{
+    m_residual.realloc(vop, !d_threadSafeVisitor.getValue(), true,
+       core::VecIdProperties{.label = "residual", .group = GetClass()->className});
+}
+
 void registerEulerImplicitSolver(sofa::core::ObjectFactory* factory)
 {
     factory->registerObjects(core::ObjectRegistrationData("Time integrator using implicit backward Euler scheme.")