diff --git a/examples/bouncingBall/softSphereFalling.py b/examples/bouncingBall/softSphereFalling.py index d323f6f..1d156bf 100644 --- a/examples/bouncingBall/softSphereFalling.py +++ b/examples/bouncingBall/softSphereFalling.py @@ -18,7 +18,7 @@ 'Sofa.Component.LinearSolver.Direct', 'Sofa.Component.Mapping.Linear', 'Sofa.Component.Mass', - 'Sofa.Component.ODESolver.Backward', + 'Sofa.Component.IntegrationSchemes.Backward', 'Sofa.Component.SolidMechanics.FEM.Elastic', 'Sofa.Component.StateContainer', 'Sofa.Component.Topology.Container.Constant', @@ -42,7 +42,7 @@ def createScene(rootNode): rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="8.0", contactDistance="0.5", angleCone="0.01") solverNode = rootNode.addChild('solverNode') - solverNode.addObject('EulerImplicitSolver', name='odesolver',firstOrder="false", rayleighStiffness='0.0', rayleighMass='0.0') + solverNode.addObject('EulerImplicitIntegrationScheme', name='odesolver',firstOrder="false", rayleighStiffness='0.0', rayleighMass='0.0') solverNode.addObject('SparseLDLSolver', name="preconditioner", template="CompressedRowSparseMatrixd") solverNode.addObject('GenericConstraintCorrection', linearSolver='@preconditioner',printLog=True, name='ResReso') diff --git a/examples/bouncingBall/softSphereFalling_reduced.py b/examples/bouncingBall/softSphereFalling_reduced.py index 5a36f30..d7ccb91 100644 --- a/examples/bouncingBall/softSphereFalling_reduced.py +++ b/examples/bouncingBall/softSphereFalling_reduced.py @@ -23,7 +23,7 @@ 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] 'Sofa.Component.Mass', # Needed to use components [UniformMass] - 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] + 'Sofa.Component.IntegrationSchemes.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.StateContainer', # Needed to use components [MechanicalObject] @@ -46,7 +46,7 @@ def createScene(rootNode): rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="8.0", contactDistance="0.5", angleCone="0.01") solverNode = rootNode.addChild('solverNode') - solverNode.addObject('EulerImplicitSolver', name='odesolver',firstOrder="false", rayleighStiffness='0.0', rayleighMass='0.0') + solverNode.addObject('EulerImplicitIntegrationScheme', name='odesolver',firstOrder="false", rayleighStiffness='0.0', rayleighMass='0.0') solverNode.addObject('SparseLDLSolver', name="preconditioner", template="CompressedRowSparseMatrixd") solverNode.addObject('GenericConstraintCorrection', linearSolver='@preconditioner',printLog=True, name='ResReso') diff --git a/examples/organs/liver/liverFineHyperElastic.pyscn b/examples/organs/liver/liverFineHyperElastic.pyscn index f09f8c1..a60eea2 100644 --- a/examples/organs/liver/liverFineHyperElastic.pyscn +++ b/examples/organs/liver/liverFineHyperElastic.pyscn @@ -14,7 +14,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping] 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.IntegrationSchemes.Backward') # Needed to use components [EulerImplicitIntegrationScheme] rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.HyperElastic') # Needed to use components [TetrahedronHyperelasticityFEMForceField] 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] @@ -29,7 +29,7 @@ def createScene(rootNode): rootNode.addObject('DefaultAnimationLoop') liver = rootNode.addChild('liver') - liver.addObject('EulerImplicitSolver', rayleighStiffness = 0.0, rayleighMass = 0.0) + liver.addObject('EulerImplicitIntegrationScheme', rayleighStiffness = 0.0, rayleighMass = 0.0) liver.addObject('SparseLDLSolver',template="CompressedRowSparseMatrixMat3x3d") liver.addObject('MeshVTKLoader', name="loader", filename=meshPath+'liverFine.vtu') liver.addObject('TetrahedronSetTopologyContainer', src="@loader") diff --git a/examples/organs/liver/liverFine_gravity.py b/examples/organs/liver/liverFine_gravity.py index b3286bf..a1245b8 100644 --- a/examples/organs/liver/liverFine_gravity.py +++ b/examples/organs/liver/liverFine_gravity.py @@ -17,7 +17,7 @@ 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] 'Sofa.Component.Mass', # Needed to use components [UniformMass] - 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] + 'Sofa.Component.IntegrationSchemes.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.StateContainer', # Needed to use components [MechanicalObject] @@ -35,7 +35,7 @@ def createScene(rootNode): surfaceColor=[0.7, 0.7, 0.7, 0.7] liver = rootNode.addChild('liver') - liver.addObject('EulerImplicitSolver', rayleighStiffness = 0.0, rayleighMass = 0.0) + liver.addObject('EulerImplicitIntegrationScheme', rayleighStiffness = 0.0, rayleighMass = 0.0) liver.addObject('SparseLDLSolver',template="CompressedRowSparseMatrixMat3x3d") liver.addObject('MeshVTKLoader', name="loader", filename=meshPath+'liverFine.vtu') liver.addObject('TetrahedronSetTopologyContainer', src="@loader") diff --git a/examples/organs/liver/liverFine_rotationalActuation.py b/examples/organs/liver/liverFine_rotationalActuation.py index 5d8fc56..2ac1bfa 100644 --- a/examples/organs/liver/liverFine_rotationalActuation.py +++ b/examples/organs/liver/liverFine_rotationalActuation.py @@ -17,7 +17,7 @@ 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] 'Sofa.Component.Mass', # Needed to use components [UniformMass] - 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] + 'Sofa.Component.IntegrationSchemes.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.StateContainer', # Needed to use components [MechanicalObject] @@ -37,7 +37,7 @@ def createScene(rootNode): rootNode.addObject('DefaultAnimationLoop') liver = rootNode.addChild('liver') - liver.addObject('EulerImplicitSolver', rayleighStiffness = 0.0, rayleighMass = 0.0) + liver.addObject('EulerImplicitIntegrationScheme', rayleighStiffness = 0.0, rayleighMass = 0.0) liver.addObject('SparseLDLSolver',template="CompressedRowSparseMatrixMat3x3d") liver.addObject('MeshVTKLoader', name="loader", filename=meshPath+'liverFine.vtu') liver.addObject('TetrahedronSetTopologyContainer', src="@loader") diff --git a/examples/organs/liver/reduced/liver/reduced_liverFine.py b/examples/organs/liver/reduced/liver/reduced_liverFine.py index ab39d65..d005c98 100644 --- a/examples/organs/liver/reduced/liver/reduced_liverFine.py +++ b/examples/organs/liver/reduced/liver/reduced_liverFine.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) liver_MOR = modelRoot.addChild('liver_MOR') - liver_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = 0.0, rayleighMass = 0.0) + liver_MOR.addObject('EulerImplicitIntegrationScheme' , rayleighStiffness = 0.0, rayleighMass = 0.0) liver_MOR.addObject('SparseLDLSolver' , template = 'CompressedRowSparseMatrixMat3x3d') liver_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/organs/liver/reduced/liver_hyperElastic/reduced_liverFineHyperElastic.py b/examples/organs/liver/reduced/liver_hyperElastic/reduced_liverFineHyperElastic.py index 148134a..a6a41c7 100644 --- a/examples/organs/liver/reduced/liver_hyperElastic/reduced_liverFineHyperElastic.py +++ b/examples/organs/liver/reduced/liver_hyperElastic/reduced_liverFineHyperElastic.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) liver_MOR = modelRoot.addChild('liver_MOR') - liver_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = 0.0, rayleighMass = 0.0) + liver_MOR.addObject('EulerImplicitIntegrationScheme' , rayleighStiffness = 0.0, rayleighMass = 0.0) liver_MOR.addObject('SparseLDLSolver' , template = 'CompressedRowSparseMatrixMat3x3d') liver_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/others/SphereOnAPlane/softSphereFalling.pyscn b/examples/others/SphereOnAPlane/softSphereFalling.pyscn index fd107f7..5ebc2d5 100644 --- a/examples/others/SphereOnAPlane/softSphereFalling.pyscn +++ b/examples/others/SphereOnAPlane/softSphereFalling.pyscn @@ -15,7 +15,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Detection.Intersection') # Needed to use components [LocalMinDistance] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Response.Contact') # Needed to use components [CollisionResponse] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver] - rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver] + rootNode.addObject('RequiredPlugin', name='Sofa.Component.IntegrationSchemes.Backward') # Needed to use components [EulerImplicitIntegrationScheme] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [GenericConstraintCorrection] rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] @@ -55,7 +55,7 @@ def createScene(rootNode): rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="1.0", contactDistance="0.5", angleCone="0.01") solverNode = rootNode.addChild('solverNode') - solverNode.addObject('EulerImplicitSolver', name='odesolver',firstOrder="false", rayleighStiffness='0.1', rayleighMass='0.1', printLog="0") + solverNode.addObject('EulerImplicitIntegrationScheme', name='odesolver',firstOrder="false", rayleighStiffness='0.1', rayleighMass='0.1', printLog="0") solverNode.addObject('SparseLDLSolver', name="preconditioner", template="CompressedRowSparseMatrixMat3x3d") solverNode.addObject('GenericConstraintCorrection', printLog=True, name='ResReso') diff --git a/examples/others/caduceus/caduceusNG.pyscn b/examples/others/caduceus/caduceusNG.pyscn index 236003b..20cfaf4 100644 --- a/examples/others/caduceus/caduceusNG.pyscn +++ b/examples/others/caduceus/caduceusNG.pyscn @@ -22,7 +22,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping] 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.IntegrationSchemes.Backward') # Needed to use components [EulerImplicitIntegrationScheme] rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic') # Needed to use components [TetrahedronFEMForceField] rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology] @@ -54,7 +54,7 @@ def createScene(rootNode): Snake = rootNode.addChild("Snake") - Snake.addObject('EulerImplicitSolver',rayleighStiffness="0.1", rayleighMass="0.1") + Snake.addObject('EulerImplicitIntegrationScheme',rayleighStiffness="0.1", rayleighMass="0.1") Snake.addObject('SparseLDLSolver',name='preconditioner') Snake.addObject('MeshVTKLoader', name='loader', filename=meshPath+'snake0.vtu', rotation=[-90, 0, 0], translation=[0,5,0]) Snake.addObject('TetrahedronSetTopologyContainer',src = '@loader') diff --git a/examples/others/caduceus/reduced/reduced_caduceusNG.py b/examples/others/caduceus/reduced/reduced_caduceusNG.py index 5e6b6b4..be7299f 100644 --- a/examples/others/caduceus/reduced/reduced_caduceusNG.py +++ b/examples/others/caduceus/reduced/reduced_caduceusNG.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) Snake_MOR = modelRoot.addChild('Snake_MOR') - Snake_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = '0.1', rayleighMass = '0.1') + Snake_MOR.addObject('EulerImplicitIntegrationScheme' , rayleighStiffness = '0.1', rayleighMass = '0.1') Snake_MOR.addObject('SparseLDLSolver' , name = 'preconditioner') Snake_MOR.addObject('GenericConstraintCorrection' , linearSolver = '@preconditioner') Snake_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/others/hexaBeam/hexaBeam.pyscn b/examples/others/hexaBeam/hexaBeam.pyscn index f73d2e4..6e10f26 100644 --- a/examples/others/hexaBeam/hexaBeam.pyscn +++ b/examples/others/hexaBeam/hexaBeam.pyscn @@ -17,7 +17,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping] 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.IntegrationSchemes.Backward') # Needed to use components [EulerImplicitIntegrationScheme] rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic') # Needed to use components [HexahedronFEMForceField] 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] @@ -29,7 +29,7 @@ def createScene(rootNode): M1 = rootNode.addChild("M1") - M1.addObject('EulerImplicitSolver',rayleighStiffness="0.1", rayleighMass="0.1") + M1.addObject('EulerImplicitIntegrationScheme',rayleighStiffness="0.1", rayleighMass="0.1") M1.addObject('SparseLDLSolver',name='preconditioner') M1.addObject('MechanicalObject') M1.addObject('UniformMass', totalMass="0.1") diff --git a/examples/others/hexaBeam/reduced/reduced_hexaBeam.py b/examples/others/hexaBeam/reduced/reduced_hexaBeam.py index f9bcfe8..fd4a5fa 100644 --- a/examples/others/hexaBeam/reduced/reduced_hexaBeam.py +++ b/examples/others/hexaBeam/reduced/reduced_hexaBeam.py @@ -63,7 +63,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) M1_MOR = modelRoot.addChild('M1_MOR') - M1_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = '0.1', rayleighMass = '0.1') + M1_MOR.addObject('EulerImplicitIntegrationScheme' , rayleighStiffness = '0.1', rayleighMass = '0.1') M1_MOR.addObject('SparseLDLSolver' , name = 'preconditioner') M1_MOR.addObject('GenericConstraintCorrection') M1_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/softRobots/diamond/diamondRobot.py b/examples/softRobots/diamond/diamondRobot.py index 165f7cf..d3510c1 100644 --- a/examples/softRobots/diamond/diamondRobot.py +++ b/examples/softRobots/diamond/diamondRobot.py @@ -42,7 +42,7 @@ 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] 'Sofa.Component.Mass', # Needed to use components [UniformMass] - 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] + 'Sofa.Component.IntegrationSchemes.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.StateContainer', # Needed to use components [MechanicalObject] @@ -75,7 +75,7 @@ def createScene(rootNode): modelNode = rootNode.addChild('modelNode') - modelNode.addObject('EulerImplicitSolver', name='integration') + modelNode.addObject('EulerImplicitIntegrationScheme', name='integration') modelNode.addObject('SparseLDLSolver', name="solver", template='CompressedRowSparseMatrixMat3x3d') loader = modelNode.addObject('MeshVTKLoader', name='loader', filename=volumeMeshFileName, rotation=list(rotation), translation=list(translation), diff --git a/examples/softRobots/diamond/diamondRobotHyperElastic.py b/examples/softRobots/diamond/diamondRobotHyperElastic.py index 6c7e2a5..a4d96f2 100644 --- a/examples/softRobots/diamond/diamondRobotHyperElastic.py +++ b/examples/softRobots/diamond/diamondRobotHyperElastic.py @@ -44,7 +44,7 @@ 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] 'Sofa.Component.Mass', # Needed to use components [UniformMass] - 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] + 'Sofa.Component.IntegrationSchemes.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.StateContainer', # Needed to use components [MechanicalObject] @@ -67,7 +67,7 @@ def createScene(rootNode): rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance="1e-6", maxIterations="1000") modelNode = rootNode.addChild('modelNode') - modelNode.addObject('EulerImplicitSolver', rayleighStiffness='0.1', rayleighMass='0.1') + modelNode.addObject('EulerImplicitIntegrationScheme', rayleighStiffness='0.1', rayleighMass='0.1') modelNode.addObject('SparseLDLSolver', name="solver") modelNode.addObject('MeshVTKLoader', name="loader", filename=meshPath+'diamond_4k_tet.vtu', rotation=[90,0,0], translation=[0,0,35]) modelNode.addObject('TetrahedronSetTopologyContainer', src="@loader") diff --git a/examples/softRobots/diamond/reduced/diamond/reduced_diamondRobot.py b/examples/softRobots/diamond/reduced/diamond/reduced_diamondRobot.py index 70ae234..deab564 100644 --- a/examples/softRobots/diamond/reduced/diamond/reduced_diamondRobot.py +++ b/examples/softRobots/diamond/reduced/diamond/reduced_diamondRobot.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) modelNode_MOR = modelRoot.addChild('modelNode_MOR') - modelNode_MOR.addObject('EulerImplicitSolver' , name = 'integration') + modelNode_MOR.addObject('EulerImplicitIntegrationScheme' , name = 'integration') modelNode_MOR.addObject('SparseLDLSolver' , name = 'solver', template = 'CompressedRowSparseMatrixMat3x3d') modelNode_MOR.addObject('GenericConstraintCorrection' , linearSolver = '@solver') modelNode_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/softRobots/diamond/reduced/diamond_hyperElastic/reduced_diamondRobotHyperElastic.py b/examples/softRobots/diamond/reduced/diamond_hyperElastic/reduced_diamondRobotHyperElastic.py index 25b3ee3..16252bf 100644 --- a/examples/softRobots/diamond/reduced/diamond_hyperElastic/reduced_diamondRobotHyperElastic.py +++ b/examples/softRobots/diamond/reduced/diamond_hyperElastic/reduced_diamondRobotHyperElastic.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) modelNode_MOR = modelRoot.addChild('modelNode_MOR') - modelNode_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = '0.1', rayleighMass = '0.1') + modelNode_MOR.addObject('EulerImplicitIntegrationScheme' , rayleighStiffness = '0.1', rayleighMass = '0.1') modelNode_MOR.addObject('SparseLDLSolver' , name = 'solver') modelNode_MOR.addObject('GenericConstraintCorrection' , linearSolver = '@solver') modelNode_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/softRobots/finger/finger.pyscn b/examples/softRobots/finger/finger.pyscn index 7b03c5a..0cd56dd 100644 --- a/examples/softRobots/finger/finger.pyscn +++ b/examples/softRobots/finger/finger.pyscn @@ -22,7 +22,7 @@ def createScene(rootNode): 'Sofa.Component.LinearSolver.Direct', 'Sofa.Component.Mapping.Linear', 'Sofa.Component.Mass', - 'Sofa.Component.ODESolver.Backward', + 'Sofa.Component.IntegrationSchemes.Backward', 'Sofa.Component.SolidMechanics.FEM.Elastic', 'Sofa.Component.SolidMechanics.Spring', 'Sofa.Component.StateContainer', @@ -44,7 +44,7 @@ def createScene(rootNode): #totalMass=0.05) finger = rootNode.addChild('finger') - finger.addObject('EulerImplicitSolver', rayleighStiffness = 0.0, rayleighMass = 0.0) + finger.addObject('EulerImplicitIntegrationScheme', rayleighStiffness = 0.0, rayleighMass = 0.0) finger.addObject('SparseLDLSolver',template="CompressedRowSparseMatrixMat3x3d") finger.addObject('MeshVTKLoader', name="loader", filename=path+'finger.vtk') finger.addObject('TetrahedronSetTopologyContainer', position="@loader.position", tetrahedra="@loader.tetrahedra") diff --git a/examples/softRobots/finger/reduced/reduced_finger.py b/examples/softRobots/finger/reduced/reduced_finger.py index d965600..7de4566 100644 --- a/examples/softRobots/finger/reduced/reduced_finger.py +++ b/examples/softRobots/finger/reduced/reduced_finger.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) finger_MOR = modelRoot.addChild('finger_MOR') - finger_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = 0.0, rayleighMass = 0.0) + finger_MOR.addObject('EulerImplicitIntegrationScheme' , rayleighStiffness = 0.0, rayleighMass = 0.0) finger_MOR.addObject('SparseLDLSolver' , template = 'CompressedRowSparseMatrixMat3x3d') finger_MOR.addObject('GenericConstraintCorrection') finger_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/softRobots/multiGait/multiGait.py b/examples/softRobots/multiGait/multiGait.py index 3b394ba..6411d1b 100644 --- a/examples/softRobots/multiGait/multiGait.py +++ b/examples/softRobots/multiGait/multiGait.py @@ -23,7 +23,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping] 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.IntegrationSchemes.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 [TetrahedronFEMForceField,TriangleFEMForceField] rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject] @@ -39,7 +39,7 @@ def createScene(rootNode): displayFlags='showVisualModels showBehaviorModels hideCollisionModels hideBoundingCollisionModels showForceFields showInteractionForceFields hideWireframe') rootNode.addObject('FreeMotionAnimationLoop') - rootNode.addObject('EulerImplicitSolver', name='odesolver', firstOrder="false", rayleighStiffness='0.1', + rootNode.addObject('EulerImplicitIntegrationScheme', name='odesolver', firstOrder="false", rayleighStiffness='0.1', rayleighMass='0.1') rootNode.addObject('BlockGaussSeidelConstraintSolver', printLog='0', tolerance="1e-15", maxIterations="5000") rootNode.addObject('CollisionPipeline', verbose="0") diff --git a/examples/softRobots/multiGait/reduced/reduced_multiGait.py b/examples/softRobots/multiGait/reduced/reduced_multiGait.py index 551d0d0..d701e09 100644 --- a/examples/softRobots/multiGait/reduced/reduced_multiGait.py +++ b/examples/softRobots/multiGait/reduced/reduced_multiGait.py @@ -64,7 +64,7 @@ def Reduced_test( modelRoot = attachedTo.addChild(name) model_MOR = modelRoot.addChild('model_MOR') - model_MOR.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness='0.1', rayleighMass='0.1') + model_MOR.addObject('EulerImplicitIntegrationScheme', name='odesolver', rayleighStiffness='0.1', rayleighMass='0.1') model_MOR.addObject('SparseLDLSolver' , name = 'preconditioner', template = 'CompressedRowSparseMatrixMat3x3d') model_MOR.addObject('GenericConstraintCorrection' , linearSolver = '@preconditioner') model_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/softRobots/multiGait/reducedMultiGait-softRobot.pyscn b/examples/softRobots/multiGait/reducedMultiGait-softRobot.pyscn index c79fb19..460ef2c 100644 --- a/examples/softRobots/multiGait/reducedMultiGait-softRobot.pyscn +++ b/examples/softRobots/multiGait/reducedMultiGait-softRobot.pyscn @@ -209,7 +209,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [GenericConstraintCorrection] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] - rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver] + rootNode.addObject('RequiredPlugin', name='Sofa.Component.IntegrationSchemes.Backward') # Needed to use components [EulerImplicitIntegrationScheme] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Setting') # Needed to use components [BackgroundSetting] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle] rootNode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D') # Needed to use components [OglSceneFrame] @@ -228,7 +228,7 @@ def createScene(rootNode): rootNode.addObject('BackgroundSetting', color='0 0.168627 0.211765') rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight") solverNode = rootNode.addChild('solverNode') - solverNode.addObject('EulerImplicitSolver', name='odesolver',firstOrder="false", rayleighStiffness='0.01', rayleighMass='0.01', printLog=False) + solverNode.addObject('EulerImplicitIntegrationScheme', name='odesolver',firstOrder="false", rayleighStiffness='0.01', rayleighMass='0.01', printLog=False) solverNode.addObject('SparseLDLSolver', name="preconditioner", template="CompressedRowSparseMatrixMat3x3d") solverNode.addObject('GenericConstraintCorrection', linearSolver='@preconditioner') solverNode.addObject('MechanicalMatrixMapperMOR', template='Vec1d,Vec1d', object1='@./reducedModel/alpha', object2='@./reducedModel/alpha', nodeToParse='@./reducedModel/model', performECSW=performECSWBoolMappedMatrix, listActiveNodesPath=listActiveNodesFile,timeInvariantMapping1 = True,timeInvariantMapping2 = True, saveReducedMass=False, usePrecomputedMass=False, precomputedMassPath='ROM_data/quadrupedMass_reduced63modes.txt', fastMatrixProduct=False, printLog=False) diff --git a/examples/softRobots/sofiaLeg/reduced/reduced_sofiaLeg.py b/examples/softRobots/sofiaLeg/reduced/reduced_sofiaLeg.py index 95ada5b..9301e06 100644 --- a/examples/softRobots/sofiaLeg/reduced/reduced_sofiaLeg.py +++ b/examples/softRobots/sofiaLeg/reduced/reduced_sofiaLeg.py @@ -64,7 +64,7 @@ def Reduced_SofiaLeg( modelRoot = attachedTo.addChild(name) SofiaLeg_MOR = modelRoot.addChild('SofiaLeg_MOR') - SofiaLeg_MOR.addObject('EulerImplicitSolver' , firstOrder = '0', name = 'odesolver') + SofiaLeg_MOR.addObject('EulerImplicitIntegrationScheme' , firstOrder = '0', name = 'odesolver') SofiaLeg_MOR.addObject('SparseLDLSolver' , name = 'preconditioner', template = 'CompressedRowSparseMatrixd') SofiaLeg_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) diff --git a/examples/softRobots/sofiaLeg/sofiaComplete/sofiaSixLegs.py b/examples/softRobots/sofiaLeg/sofiaComplete/sofiaSixLegs.py index b6e05f6..43b3da9 100644 --- a/examples/softRobots/sofiaLeg/sofiaComplete/sofiaSixLegs.py +++ b/examples/softRobots/sofiaLeg/sofiaComplete/sofiaSixLegs.py @@ -105,7 +105,7 @@ def SofiaSixLegs( # Body of the robot: rigid ! BodyNode = sofia.addChild('rigidBody') - BodyNode.addObject('EulerImplicitSolver', name='odesolver', firstOrder=0); + BodyNode.addObject('EulerImplicitIntegrationScheme', name='odesolver', firstOrder=0); BodyNode.addObject('ShewchukPCGLinearSolver', name='linearSolver',iterations=2,tolerance=1.0e-18, preconditioner="@preconditioner") BodyNode.addObject('SparseLDLSolver', name='preconditioner') BodyNode.addObject('MechanicalObject', template='Rigid',name='frame1', position=rigidBodyPosition) # , showObject='1', showObjectScale=15) diff --git a/examples/softRobots/sofiaLeg/sofiaLeg.py b/examples/softRobots/sofiaLeg/sofiaLeg.py index d21771a..5764ea1 100644 --- a/examples/softRobots/sofiaLeg/sofiaLeg.py +++ b/examples/softRobots/sofiaLeg/sofiaLeg.py @@ -61,7 +61,7 @@ def SofiaLeg( totalMass (float): The mass is distributed according to the geometry of the object. """ leg = attachedTo.addChild(name) - leg.addObject('EulerImplicitSolver' , firstOrder = '0', name = 'odesolver') + leg.addObject('EulerImplicitIntegrationScheme' , firstOrder = '0', name = 'odesolver') leg.addObject('SparseLDLSolver' , name = 'preconditioner',template="CompressedRowSparseMatrixd") diff --git a/python/mor/wrapper/replaceAndSave.py b/python/mor/wrapper/replaceAndSave.py index 81b0285..57a3534 100644 --- a/python/mor/wrapper/replaceAndSave.py +++ b/python/mor/wrapper/replaceAndSave.py @@ -223,7 +223,7 @@ def MORreplace(node,type,newParam,initialParam): if save: if currentPath == path : - if type.find('Solver') != -1 or type == 'EulerImplicitSolver' or type == 'GenericConstraintCorrection': + if type.find('Solver') != -1 or type == 'EulerImplicitIntegrationScheme' or type == 'GenericConstraintCorrection': myMORModel.append((str(type),initialParam)) else: if currentPath not in myModel: