Apply changes from SOFA PR #6117

examples/component/constraint/CableConstraint/CableSmoothActuation.py

@@ -11,7 +11,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', pluginName= ['SoftRobots', 
         'Sofa.Component.SolidMechanics.Spring', 
         'Sofa.Component.Engine.Select', 
-        'Sofa.Component.ODESolver.Backward',
+        'Sofa.Component.IntegrationScheme.Backward',
         'Sofa.Component.IO.Mesh',
         'Sofa.GL.Component.Rendering2D',
         'Sofa.GL.Component.Rendering3D',
@@ -41,7 +41,7 @@ def createScene(rootNode):
     ################################################### Bunny ######################################################
     ################################################################################################################
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver', name='odesolver')
+    bunny.addObject('EulerImplicitIntegrationScheme', name='odesolver')
     bunny.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3d")
 
     bunny.addObject('MeshVTKLoader', name='loader', filename=path+'Hollow_Stanford_Bunny.vtu')

examples/component/constraint/CableConstraint/DisplacementVsForceControl.py

@@ -22,7 +22,7 @@ def createScene(rootNode):
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                             "Sofa.Component.Mass",  # Needed to use components UniformMass
-                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                            "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                             "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                             "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
                             "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology

examples/component/constraint/CableConstraint/Finger.py

@@ -16,7 +16,7 @@ def createScene(rootNode):
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                             "Sofa.Component.Mass",  # Needed to use components UniformMass
-                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                            "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                             "Sofa.Component.Setting",  # Needed to use components BackgroundSetting
                             "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                             "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
@@ -44,7 +44,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     finger = rootNode.addChild('finger')
-    finger.addObject('EulerImplicitSolver', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1)
+    finger.addObject('EulerImplicitIntegrationScheme', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1)
     finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
 
     # Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene .

examples/component/constraint/CableConstraint/FingerWithSTLIB.py

@@ -24,7 +24,7 @@ def createScene(rootNode):
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                             "Sofa.Component.Mass",  # Needed to use components UniformMass
-                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                            "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                             "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                             "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
                             "Sofa.Component.Topology.Container.Dynamic",  # Needed to use components TetrahedronSetTopologyContainer

examples/component/constraint/JointConstraint/JointConstraint.py

@@ -16,7 +16,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh')  # Needed to use components [MeshSTLLoader]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.NonLinear')  # Needed to use components [RigidMapping]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass')  # Needed to use components [UniformMass]  
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IntegrationScheme.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Setting')  # Needed to use components [BackgroundSetting]  
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic')  # Needed to use components [BeamFEMForceField]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]
@@ -32,7 +32,7 @@ def createScene(rootNode):
 
     # Simulation node
     simulation = rootNode.addChild('Simulation')
-    simulation.addObject('EulerImplicitSolver')
+    simulation.addObject('EulerImplicitIntegrationScheme')
     simulation.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
     simulation.addObject('GenericConstraintCorrection')
 

examples/component/constraint/PositionConstraint/PositionConstraint.py

@@ -8,7 +8,7 @@ def createScene(rootnode):
     rootnode.addObject('VisualStyle', displayFlags='showForceFields')
 
     body = rootnode.addChild('Body')
-    body.addObject('EulerImplicitSolver')
+    body.addObject('EulerImplicitIntegrationScheme')
     body.addObject('SparseLDLSolver')
     body.addObject('RegularGridTopology', min=[0, 0, 0], max=[0.5, 1, 0.1], n=[5, 10, 2])
     body.addObject('MechanicalObject')

examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py

@@ -18,7 +18,7 @@ def createScene(rootNode):
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshOBJLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                             "Sofa.Component.Mass",  # Needed to use components UniformMass
-                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                            "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                             "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                             "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
                             "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology
@@ -38,7 +38,7 @@ def createScene(rootNode):
     rootNode.addObject('DefaultVisualManagerLoop')
     rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
 
-    Bunny(rootNode, name='BunnyPressure', controlType='pressure', initialValue=2)
-    Bunny(rootNode, translation=[15, 0, 0], controlType='volumeGrowth', name='BunnyVolume', initialValue=40)
+    Bunny(rootNode, name='BunnyPressure', controlType='pressure', initialValue=2000)
+    Bunny(rootNode, translation=[15, 0, 0], controlType='volumeGrowth', name='BunnyVolume', initialValue=0.04)
 
     return rootNode

examples/component/constraint/SurfacePressureConstraint/Springy.py

@@ -19,7 +19,7 @@ def createScene(rootNode):
         "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
         "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
         "Sofa.Component.Mass",  # Needed to use components UniformMass
-        "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+        "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
         "Sofa.Component.Setting",  # Needed to use components BackgroundSetting
         "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
         "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
@@ -43,7 +43,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     accordion = rootNode.addChild('accordion')
-    accordion.addObject('EulerImplicitSolver', firstOrder=False, rayleighStiffness=0.2, rayleighMass=0.2)
+    accordion.addObject('EulerImplicitIntegrationScheme', firstOrder=False, rayleighStiffness=0.2, rayleighMass=0.2)
     accordion.addObject('SparseLDLSolver')
 
     accordion.addObject('MeshVTKLoader', name='loader', filename=path + 'Springy.vtk', rotation=[0, 0, 0])
@@ -76,7 +76,7 @@ def createScene(rootNode):
     cavity.addObject('SurfacePressureConstraint', template='Vec3', name="pressure",
                      triangles='@topo.triangles',
                      valueType=1,
-                     value=8)
+                     value=800)
 
     # This adds a BarycentricMapping. A BarycentricMapping is a key element as it will add a bi-directional link
     #  between the cavity wall (surfacic mesh) and the accordion (volumetric mesh) so that movements of the cavity's DoFs will be mapped

examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py

@@ -14,7 +14,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [EigenSimplicialLDLT]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping,IdentityMapping]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IntegrationScheme.Backward') # Needed to use components [EulerImplicitIntegrationScheme]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic') # Needed to use components [FastTetrahedralCorotationalForceField]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]
@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     # bunny
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver', name='odesolver')
+    bunny.addObject('EulerImplicitIntegrationScheme', name='odesolver')
     bunny.addObject('EigenSimplicialLDLT', template='CompressedRowSparseMatrixMat3x3')
     bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
     bunny.addObject('TetrahedronSetTopologyContainer', src='@loader', name='container')
@@ -57,7 +57,7 @@ def createScene(rootNode):
     cavity.addObject('MeshOBJLoader', name='loader', filename=path + 'Hollow_Bunny_Body_Cavity.obj')
     cavity.addObject('MeshTopology', src='@loader', name='topo')
     cavity.addObject('MechanicalObject', name='cavity')
-    cavity.addObject('SurfacePressureConstraint', triangles='@topo.triangles', value=40, valueType=1)
+    cavity.addObject('SurfacePressureConstraint', triangles='@topo.triangles', value=4000, valueType=1)
     cavity.addObject('BarycentricMapping', name='mapping', mapForces=False, mapMasses=False)
 
     # bunny/bunnyVisu

examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py

@@ -23,7 +23,7 @@ def createScene(rootNode):
                                 "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                 "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                                 "Sofa.Component.Mass",  # Needed to use components UniformMass
-                                "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                                "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                                 "Sofa.Component.Setting",  # Needed to use components BackgroundSetting
                                 "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                                 "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
@@ -51,7 +51,7 @@ def createScene(rootNode):
 
     # FEM Model
     tentacle = rootNode.addChild('tentacle')
-    tentacle.addObject('EulerImplicitSolver', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1)
+    tentacle.addObject('EulerImplicitIntegrationScheme', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1)
     tentacle.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
 
     tentacle.addObject('MeshVTKLoader', name='loader', filename=path+'Tentacle.vtk')

examples/component/controller/AnimationEditor/RigidAnimation.py

@@ -14,7 +14,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', pluginName=[
         "Sofa.Component.IO.Mesh",  # Needed to use components MeshOBJLoader
         "Sofa.Component.LinearSolver.Iterative",  # Needed to use components CGLinearSolver
-        "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+        "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
         "Sofa.Component.Setting",  # Needed to use components BackgroundSetting
         "Sofa.GL.Component.Rendering3D",  # Needed to use components OglModel, OglSceneFrame
     ])
@@ -23,7 +23,7 @@ def createScene(rootNode):
     rootNode.addObject('DefaultVisualManagerLoop')
 
     point = rootNode.addChild('point')
-    point.addObject('EulerImplicitSolver', firstOrder=True)
+    point.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     point.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     point.addObject('MechanicalObject', template='Rigid3',
                     position=[0, 0, 0, 0, 0, 0, 1],

examples/component/controller/AnimationEditor/__init__.py

@@ -41,7 +41,7 @@
 
     def createScene(rootNode):
         point = rootNode.addChild('point')
-        point.addObject('EulerImplicitSolver', firstOrder=True)
+        point.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
         point.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
         point.addObject('MechanicalObject', template='Rigid3',
                         position=[0, 0, 0, 0, 0, 0, 1],

examples/component/controller/CommunicationController/SimulationDirect_Receiver.py

@@ -14,7 +14,7 @@ def createScene(rootNode):
                                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                                             "Sofa.Component.Mass",  # Needed to use components UniformMass
-                                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                                            "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                                             "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                                             "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
                                             "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology

examples/component/controller/CommunicationController/SimulationInverse_Sender.py

@@ -18,7 +18,7 @@ def createScene(rootNode):
                                         "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                                         "Sofa.Component.LinearSolver.Iterative",  # Needed to use components CGLinearSolver
                                         "Sofa.Component.Mass",  # Needed to use components UniformMass
-                                        "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                                        "Sofa.Component.IntegrationScheme.Backward",  # Needed to use components EulerImplicitIntegrationScheme
                                         "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                                         "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
                                         "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology
@@ -45,7 +45,7 @@ def createScene(rootNode):
     if INVERSE:
         # Effector goal for interactive control
         goal = rootNode.addChild('goal')
-        goal.addObject('EulerImplicitSolver', firstOrder=True)
+        goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
         goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
         goal.addObject('MechanicalObject', name='goalMO', position=[0, 0, 8])
         goal.addObject('SphereCollisionModel', radius=1)
@@ -60,7 +60,7 @@ def createScene(rootNode):
         effector.addObject('BarycentricMapping', mapForces=False, mapMasses=False)
 
     accordion.cavity.pressure.minPressure = 0
-    accordion.cavity.pressure.maxVolumeGrowth = 8
+    accordion.cavity.pressure.maxVolumeGrowth = 0.08
     for i in range(3):
         accordion.cables.getObject('cable' + str(i + 1)).minForce = 0
         accordion.cables.getObject('cable' + str(i + 1)).maxPositiveDisp = 1.5

examples/component/controller/CommunicationController/modules/accordion3.py

@@ -5,7 +5,7 @@
 def addAccordion(node, inverse=False):
 
     accordion = node.addChild('accordion')
-    accordion.addObject('EulerImplicitSolver', firstOrder=False, rayleighStiffness=0.1, rayleighMass=0.1)
+    accordion.addObject('EulerImplicitIntegrationScheme', firstOrder=False, rayleighStiffness=0.1, rayleighMass=0.1)
     accordion.addObject('SparseLDLSolver')
     accordion.addObject('MeshVTKLoader', name='loader', filename=path+'Springy.vtk')
     accordion.addObject('MeshTopology', src='@loader')