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[Mass] Support matrix lumping in FEMMass - #6264

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[Mass] Support matrix lumping in FEMMass#6264
alxbilger wants to merge 1 commit into
sofa-framework:masterfrom
alxbilger:massmatrixlumping

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Mass matrix lumping = diagonal matrix.
If the matrix is diagonal, it can be inverted trivially, and that's what we need in accFromF.

Mass lumping is most useful in explicit dynamics. I tried to make an example, but it's always unstable. So, I made a comparison between consistent and lumped masses using an implicit solver. I don't see any difference visually.

image

[with-all-tests]


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@alxbilger alxbilger added pr: status to review To notify reviewers to review this pull-request pr: new feature Implement a new feature labels Aug 26, 2026
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