Apply changes from SOFA PR #6117

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')
 

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')
 

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")

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")

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")

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)
 

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)
 

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')
 

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')

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)

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")

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)

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),

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")

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)

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)

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")

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)