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[All] Fix some scenes #6322

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Merged
epernod merged 7 commits into from
Sep 29, 2026
+108 −92
Merged

[All] Fix some scenes #6322

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f035b56
Firx forgotten required plugins or EulerImplicitSolver
bakpaul Sep 25, 2026
d954011
Add scenes from examples
bakpaul Sep 28, 2026
428450e
Fix xml files
bakpaul Sep 28, 2026
de03b21
Fix missing required plugins
bakpaul Sep 28, 2026
690032a
Merge branch 'master' into 26_09_fix_some_scenes_for_ci
hugtalbot Sep 28, 2026
1b334c7
add proper required plugin so scene is skipped
bakpaul Sep 28, 2026
9a8e424
Merge branch 'master' into 26_09_fix_some_scenes_for_ci
hugtalbot Sep 28, 2026
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2 changes: 1 addition & 1 deletion applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py
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Expand Up @@ -11,7 +11,7 @@ def addHeader(rootNode):
'Sofa.Component.LinearSolver.Direct',
'Sofa.Component.Mapping.NonLinear',
'Sofa.Component.Mass',
'Sofa.Component.ODESolver.Backward',
'Sofa.Component.IntegrationScheme.Backward',
'Sofa.Component.Setting',
'Sofa.Component.SolidMechanics.Spring',
'Sofa.Component.StateContainer',
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2 changes: 1 addition & 1 deletion applications/plugins/PersistentContact/examples/grasping.scn
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Expand Up @@ -14,7 +14,7 @@
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/>
<RequiredPlugin name="Sofa.Component.Mass"/>
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/>
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin name="Sofa.Component.IntegrationScheme.Backward"/>
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/>
<RequiredPlugin name="Sofa.Component.StateContainer"/>
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1 change: 1 addition & 0 deletions applications/plugins/SixenseHydra/Scenes/Hydra_test.scn
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@@ -1,5 +1,6 @@
<Node name="Root" dt="0.02" >
<VisualStyle displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
<RequiredPlugin name="Razer Hydra Driver" pluginName="SixenseHydra" />

<EulerImplicitIntegrationScheme name="EulerImplicitIntegrationScheme2" rayleighStiffness="0.01" rayleighMass="0.1" />
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="40" tolerance="1e-009" threshold="1e-015" />
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2 changes: 1 addition & 1 deletion applications/plugins/SofaCHOLMOD/examples/FEMBAR-common.xml
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Expand Up @@ -4,7 +4,7 @@
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SVDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
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22 changes: 11 additions & 11 deletions applications/plugins/SofaCHOLMOD/examples/TorusFall.scn
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Expand Up @@ -19,7 +19,7 @@
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetTopologyContainer] -->
Expand Down Expand Up @@ -49,7 +49,7 @@

<Node name="Simulation">
<Node name="Torus0" activated="1">
<EulerImplicitSolver name="ODE0" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE0" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear0" />
<TransformEngine name="Torus0VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-17.800790396426 30 18.046774108916" rotation="35.624275834125 79.418789031645 -15.634653477759" />
<TetrahedronSetTopologyContainer name="Torus0Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -71,7 +71,7 @@
</Node>
</Node>
<Node name="Torus1" activated="1">
<EulerImplicitSolver name="ODE1" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE1" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear1" />
<TransformEngine name="Torus1VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="31.203746381776 46 -3.9584052767411" rotation="-81.407505530588 -41.699467018107 65.027568971285" />
<TetrahedronSetTopologyContainer name="Torus1Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -93,7 +93,7 @@
</Node>
</Node>
<Node name="Torus2" activated="1">
<EulerImplicitSolver name="ODE2" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE2" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear2" />
<TransformEngine name="Torus2VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-22.646083078648 62 -29.076289417723" rotation="-48.524586576281 9.6813763210929 49.716395474838" />
<TetrahedronSetTopologyContainer name="Torus2Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -115,7 +115,7 @@
</Node>
</Node>
<Node name="Torus3" activated="1">
<EulerImplicitSolver name="ODE3" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE3" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear3" />
<TransformEngine name="Torus3VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-0.36212878318602 78 39.681506827325" rotation="58.536139097314 -42.029633536949 -32.440462048371" />
<TetrahedronSetTopologyContainer name="Torus3Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -137,7 +137,7 @@
</Node>
</Node>
<Node name="Torus4" activated="1">
<EulerImplicitSolver name="ODE4" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE4" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear4" />
<TransformEngine name="Torus4VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="23.392304286078 94 -30.079806740433" rotation="39.709873269177 15.292576442143 7.9574386952247" />
<TetrahedronSetTopologyContainer name="Torus4Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -159,7 +159,7 @@
</Node>
</Node>
<Node name="Torus5" activated="0">
<EulerImplicitSolver name="ODE5" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE5" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear5" />
<TransformEngine name="Torus5VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-39.61300034058 110 0.86055988485951" rotation="45.193954620135 -42.616531463627 77.409719260135" />
<TetrahedronSetTopologyContainer name="Torus5Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -181,7 +181,7 @@
</Node>
</Node>
<Node name="Torus6" activated="0">
<EulerImplicitSolver name="ODE6" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE6" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear6" />
<TransformEngine name="Torus6VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="17.130322557469 126 17.800171588454" rotation="72.186179143463 59.053434119119 88.31836399544" />
<TetrahedronSetTopologyContainer name="Torus6Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -203,7 +203,7 @@
</Node>
</Node>
<Node name="Torus7" activated="0">
<EulerImplicitSolver name="ODE7" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE7" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear7" />
<TransformEngine name="Torus7VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-10.390362092476 142 -33.168565888502" rotation="-89.649008726538 -67.300238701189 -9.8223450965352" />
<TetrahedronSetTopologyContainer name="Torus7Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -225,7 +225,7 @@
</Node>
</Node>
<Node name="Torus8" activated="0">
<EulerImplicitSolver name="ODE8" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE8" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear8" />
<TransformEngine name="Torus8VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="-26.521328197104 158 28.966597611535" rotation="14.924939379527 81.74878913525 -44.199652361777" />
<TetrahedronSetTopologyContainer name="Torus8Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
Expand All @@ -247,7 +247,7 @@
</Node>
</Node>
<Node name="Torus9" activated="0">
<EulerImplicitSolver name="ODE9" rayleighMass="0.1" rayleighStiffness="0.1" />
<EulerImplicitIntegrationScheme name="ODE9" rayleighMass="0.1" rayleighStiffness="0.1" />
<EigenCholmodSupernodalLLT template="CompressedRowSparseMatrixMat3x3" name="Linear9" />
<TransformEngine name="Torus9VXForm" input_position="@/Mesh/stuffing.outputPoints" translation="35.093469803731 174 -3.1191041148822" rotation="-5.1181413303679 82.199841808621 -51.436056066973" />
<TetrahedronSetTopologyContainer name="Torus9Topo" position="@/Mesh/stuffing.outputPoints" tetrahedra="@/Mesh/stuffing.outputTetrahedra"/>
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10 changes: 5 additions & 5 deletions applications/plugins/SofaCUDA/examples/CudaCorotationalFEMForceField.scn
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Expand Up @@ -4,7 +4,7 @@
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
Expand All @@ -16,7 +16,7 @@
<DefaultVisualManagerLoop />

<!-- <Node name="Hexahedron">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

<RegularGridTopology name="grid" n="80 20 20" min="0 6 -2" max="16 10 2" />
Expand Down Expand Up @@ -45,7 +45,7 @@


<Node name="TetrahedronFEMForceField-GPU-Green">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
Expand All @@ -66,7 +66,7 @@
<!-- <Node name="Triangle">
<RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />

<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
Expand All @@ -84,7 +84,7 @@
<!-- <Node name="Quad">
<RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />

<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
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10 changes: 5 additions & 5 deletions applications/plugins/SofaCUDA/examples/CudaLinearSmallStrainFEMForceField.scn
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Expand Up @@ -4,7 +4,7 @@
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
Expand All @@ -15,7 +15,7 @@
<DefaultAnimationLoop/>

<!-- <Node name="Hexahedron">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
Expand Down Expand Up @@ -44,7 +44,7 @@


<Node name="TetrahedronFEMForceField-GPU-Green">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
Expand All @@ -65,7 +65,7 @@
<!-- <Node name="Triangle">
<RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />

<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
Expand All @@ -83,7 +83,7 @@
<!-- <Node name="Quad">
<RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />

<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../tissue.position" name="dofs" template="CudaVec3f"/>
Expand Down
4 changes: 2 additions & 2 deletions ...ons/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_hexa.scn
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Expand Up @@ -4,7 +4,7 @@
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
Expand All @@ -16,7 +16,7 @@
<DefaultVisualManagerLoop />

<Node name="Hexahedron">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<RegularGridTopology name="grid" n="80 20 20" min="0 6 -2" max="16 10 2" />
Expand Down
4 changes: 2 additions & 2 deletions ...ns/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn
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Expand Up @@ -4,7 +4,7 @@
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
Expand All @@ -22,7 +22,7 @@
</Node>

<Node name="Simulated">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
Expand Down
4 changes: 2 additions & 2 deletions .../plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn
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Expand Up @@ -3,7 +3,7 @@
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
Expand All @@ -15,7 +15,7 @@
<DefaultVisualManagerLoop />

<Node name="Pyramid">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<!-- A cube made of 6 pyramids -->
Expand Down
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