sofa-framework · alxbilger · Jul 2, 2025
diff --git a/35_Plugins/50_Usual_plugins/80_MultiThreading.md b/35_Plugins/50_Usual_plugins/80_MultiThreading.md
@@ -14,108 +14,6 @@ This pipeline requires two components for the [broad phase](../../../components/
 A usual choice is [BruteForceBroadPhase](../../../components/collision/detection/algorithm/bruteforcebroadphase/) for the broad phase, and [BVHNarrowPhase](../../../components/collision/detection/algorithm/bvhnarrowphase/) for the narrow phase.
 Both of these components can be replaced with a parallel version from the MultiThreading plugin.
 
-### ParallelBruteForceBroadPhase
-
-This component is a parallel implementation of [BruteForceBroadPhase](../../../components/collision/detection/algorithm/bruteforcebroadphase/) using a global thread pool.
-It means the result of a simulation with [BruteForceBroadPhase](../../../components/collision/detection/algorithm/bruteforcebroadphase/) or with ParallelBruteForceBroadPhase is expected to be equal.
-ParallelBruteForceBroadPhase is the most efficient compared to [BruteForceBroadPhase](../../../components/collision/detection/algorithm/bruteforcebroadphase/) when there is a lot of objects in the scene.
-
-#### Examples
-
-Examples of ParallelBruteForceBroadPhase can be found in:
-
-* [ParallelBruteForceBroadPhase.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelBruteForceBroadPhase.scn)
-* [ParallelCollisionDetection.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelCollisionDetection.scn)
-* [5DeformableCubesConstraints.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/5DeformableCubesConstraints.scn)
-
-### ParallelBVHNarrowPhase
-
-This component is a parallel implementation of [BVHNarrowPhase](../../../components/collision/detection/algorithm/bvhnarrowphase/) using a global thread pool.
-It means the result of a simulation with [BVHNarrowPhase](../../../components/collision/detection/algorithm/bvhnarrowphase/) or with ParallelBVHNarrowPhase is expected to be equal.
-
-#### Examples
-
-Examples of ParallelBruteForceBroadPhase can be found in:
-
-* [ParallelBruteForceBroadPhase.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelBruteForceBroadPhase.scn)
-* [ParallelCollisionDetection.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelCollisionDetection.scn)
-* [5DeformableCubesConstraints.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/5DeformableCubesConstraints.scn)
-
-# Physics
-
-## Parallel FEM
-
-### ParallelTetrahedronFEMForceField
-
-ParallelTetrahedronFEMForceField is the multi-threaded equivalent of [TetrahedronFEMForceField](../../../components/solidmechanics/fem/elastic/tetrahedronfemforcefield).
-
-This implementation is the most efficient when the number of tetrahedron is large (> 1000).
-
-The following methods are executed in parallel:
-- `addDForce`
-- `addKToMatrix`
-
-#### Examples
-
-Examples of ParallelTetrahedronFEMForceField can be found in:
-
-* [ParallelTetrahedronFEMForceField.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelTetrahedronFEMForceField.scn)
-
-### ParallelHexahedronFEMForceField
-
-ParallelHexahedronFEMForceField is the multi-threaded equivalent of [HexahedronFEMForceField](../../../components/solidmechanics/fem/elastic/hexahedronfemforcefield).
-
-This implementation is the most efficient when:
-
-1) the number of hexahedron is large (> 1000)
-2) the global system matrix is not assembled. It is usually the case with a [CGLinearSolver](../../../components/linearsolver/iterative/cglinearsolver/) templated with GraphScattered types.
-3) the method is 'large'. If the method is 'polar' or 'small', `addForce` is executed sequentially, but `addDForce` in parallel.
-
-The following methods are executed in parallel:
-
-- `addForce` for method 'large'.
-- `addDForce`
-
-The method `addKToMatrix` is not executed in parallel.
-This method is called with an assembled system, usually with a direct solver or a [CGLinearSolver](../../../components/linearsolver/iterative/cglinearsolver/) templated with types different from GraphScattered.
-In this case, the most time-consuming step is to invert the matrix. This is where efforts should be put to accelerate the simulation.
-
-#### Examples
-
-Examples of ParallelHexahedronFEMForceField can be found in:
-
-* [ParallelHexahedronFEMForceField.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelHexahedronFEMForceField.scn)
-
-## BeamLinearMapping_mt
-
-This component inherits all the functionality from the BeamLinearMapping component and overrides three virtual functions that contain a `for` loop: `apply()`, `applyJ()` and `applyJT()`.
-It adds only one data attribute, the granularity. This attribute sets the number of iterations of the `for` loop, corresponding to the number of points along the beam elements that must be assigned and executed for each task.
-If this number is lower than the number of iterations the loop won't be parallelized, and the corresponding BeamLinearMapping function is called.
-If this number is greater than the number of iterations of the loop the tasks are created, and each task executes the granularity value of iterations of the loop.
-
-### Examples
-
-Examples of BeamLinearMapping_mt can be found in:
-
-* [BeamLinearMapping_mt.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/BeamLinearMapping_mt.scn)
-
-## Springs
-
-### ParallelStiffSpringForceField
-
-ParallelStiffSpringForceField is the multi-threaded equivalent of StiffSpringForceField.
-
-### ParallelMeshSpringForceField
-
-ParallelMeshSpringForceField is the multi-threaded equivalent of MeshSpringForceField.
-
-### Examples
-
-Examples of ParallelMeshSpringForceField can be found in:
-
-* [ParallelMeshSpringForceField.scn](https://github.com/sofa-framework/sofa/blob/master/applications/plugins/MultiThreading/examples/ParallelMeshSpringForceField.scn)
-
-
 ## Independent SOFA Scenes
 
 The AnimationLoopParallelScheduler component was implemented to run the physics simulation of independent scenes in parallel.

diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/BeamLinearMapping_mt.md b/35_Plugins/50_Usual_plugins/MultiThreading/BeamLinearMapping_mt.md
@@ -0,0 +1,6 @@
+## BeamLinearMapping_mt
+
+This component inherits all the functionality from the BeamLinearMapping component and overrides three virtual functions that contain a `for` loop: `apply()`, `applyJ()` and `applyJT()`.
+It adds only one data attribute, the granularity. This attribute sets the number of iterations of the `for` loop, corresponding to the number of points along the beam elements that must be assigned and executed for each task.
+If this number is lower than the number of iterations the loop won't be parallelized, and the corresponding BeamLinearMapping function is called.
+If this number is greater than the number of iterations of the loop the tasks are created, and each task executes the granularity value of iterations of the loop.
diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/ParallelBVHNarrowPhase.md b/35_Plugins/50_Usual_plugins/MultiThreading/ParallelBVHNarrowPhase.md
@@ -0,0 +1,4 @@
+# ParallelBVHNarrowPhase
+
+This component is a parallel implementation of [BVHNarrowPhase](../../../../components/collision/detection/algorithm/bvhnarrowphase/) using a global thread pool.
+It means the result of a simulation with [BVHNarrowPhase](../../../../components/collision/detection/algorithm/bvhnarrowphase/) or with ParallelBVHNarrowPhase is expected to be equal.
diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/ParallelBruteForceBroadPhase.md b/35_Plugins/50_Usual_plugins/MultiThreading/ParallelBruteForceBroadPhase.md
@@ -0,0 +1,5 @@
+# ParallelBruteForceBroadPhase
+
+This component is a parallel implementation of [BruteForceBroadPhase](../../../../components/collision/detection/algorithm/bruteforcebroadphase/) using a global thread pool.
+It means the result of a simulation with [BruteForceBroadPhase](../../../../components/collision/detection/algorithm/bruteforcebroadphase/) or with ParallelBruteForceBroadPhase is expected to be equal.
+ParallelBruteForceBroadPhase is the most efficient compared to [BruteForceBroadPhase](../../../../components/collision/detection/algorithm/bruteforcebroadphase/) when there is a lot of objects in the scene.
diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/ParallelHexahedronFEMForceField.md b/35_Plugins/50_Usual_plugins/MultiThreading/ParallelHexahedronFEMForceField.md
@@ -0,0 +1,18 @@
+# ParallelHexahedronFEMForceField
+
+ParallelHexahedronFEMForceField is the multi-threaded equivalent of [HexahedronFEMForceField](../../../../components/solidmechanics/fem/elastic/hexahedronfemforcefield).
+
+This implementation is the most efficient when:
+
+1) the number of hexahedron is large (> 1000)
+2) the global system matrix is not assembled. It is usually the case with a [CGLinearSolver](../../../../components/linearsolver/iterative/cglinearsolver/) templated with GraphScattered types.
+3) the method is 'large'. If the method is 'polar' or 'small', `addForce` is executed sequentially, but `addDForce` in parallel.
+
+The following methods are executed in parallel:
+
+- `addForce` for method 'large'.
+- `addDForce`
+
+The method `addKToMatrix` is not executed in parallel.
+This method is called with an assembled system, usually with a direct solver or a [CGLinearSolver](../../../../components/linearsolver/iterative/cglinearsolver/) templated with types different from GraphScattered.
+In this case, the most time-consuming step is to invert the matrix. This is where efforts should be put to accelerate the simulation.
diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/ParallelMeshSpringForceField.md b/35_Plugins/50_Usual_plugins/MultiThreading/ParallelMeshSpringForceField.md
@@ -0,0 +1,3 @@
+# ParallelMeshSpringForceField
+
+ParallelMeshSpringForceField is the multi-threaded equivalent of MeshSpringForceField.
diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/ParallelStiffSpringForceField.md b/35_Plugins/50_Usual_plugins/MultiThreading/ParallelStiffSpringForceField.md
@@ -0,0 +1,3 @@
+# ParallelSpringForceField
+
+ParallelSpringForceField is the multi-threaded equivalent of SpringForceField.
diff --git a/35_Plugins/50_Usual_plugins/MultiThreading/ParallelTetrahedronFEMForceField.md b/35_Plugins/50_Usual_plugins/MultiThreading/ParallelTetrahedronFEMForceField.md
@@ -0,0 +1,9 @@
+# ParallelTetrahedronFEMForceField
+
+ParallelTetrahedronFEMForceField is the multi-threaded equivalent of [TetrahedronFEMForceField](../../../../components/solidmechanics/fem/elastic/tetrahedronfemforcefield).
+
+This implementation is the most efficient when the number of tetrahedron is large (> 1000).
+
+The following methods are executed in parallel:
+- `addDForce`
+- `addKToMatrix`
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		# ParallelMeshSpringForceField

		ParallelMeshSpringForceField is the multi-threaded equivalent of MeshSpringForceField.
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		# ParallelSpringForceField

		ParallelSpringForceField is the multi-threaded equivalent of SpringForceField.