[BuiltConstraintSolver] Add SVD based regularization strategy#5722
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fredroy merged 20 commits intosofa-framework:masterfrom Nov 18, 2025
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…info in GenericCosntraintSolver data that are dependent on the method type. Need to find a way of setting the solving method by adding a component in the scene.
…ritance. Now the constraintProblem is only a container
… still being used
…_constraint_solver
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.../Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/BuiltConstraintSolver.cpp
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Based on #5666
This PR adds a regularization strategy that uses SVD to explore the NullSpace of the matrix to only add regularization to constraints that have antagonists constraints.
meaningful commit: 30f81e4
Introduced example
The added example shows a beam attached at both sides and which center is constrained in two different positions, meaning that two antagonists constraints are imposed to the center. The idea is that, because the fixations are not faulty, then we want them to be fully solved and we don't want to perturb them while still releasing the constraints on the antagonists ones.
With SVD
Without SVD
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