Apply changes from SOFA PR #6117

python3/src/stlib3/communication/UDP_controller.py

@@ -60,7 +60,7 @@ def createScene(rootNode):
                 rootNode.addObject(UDP)
 
                 Beam = rootNode.addChild('Beam')
-                Beam.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness=0.1, rayleighMass=0.1)
+                Beam.addObject('EulerImplicitIntegrationScheme', name="odesolver", rayleighStiffness=0.1, rayleighMass=0.1)
                 Beam.addObject('ShewchukPCGLinearSolver', iterations=1, name="linearsolver", tolerance=1e-5, preconditioners="preconditioner", use_precond=True)
                 Beam.addObject('RegularGridTopology', name="SoftBeam", nx=5, ny=2, nz=2, min=[-0.050, -0.010, -0.002], max=[0.050, 0.010, 0.0025])
                 Beam.addObject('MechanicalObject', name="meca", template="Vec3")

python3/src/stlib3/physics/deformable/elasticmaterialobject.py

@@ -31,7 +31,7 @@ def init(self):
         #         Sofa.msg_info("Missing RequiredPlugin SofaSparseSolver in the scene, add it from Prefab ElasticMaterialObject.")
 
         if self.solverName.value == '':
-            self.integration = self.addObject('EulerImplicitSolver', name='integration')
+            self.integration = self.addObject('EulerImplicitIntegrationScheme', name='integration')
             self.solver = self.addObject('SparseLDLSolver', name="solver", template='CompressedRowSparseMatrixd')
             # Eulalie: 01/21 a bit hard to debug... when uncommented, no warning or error shows up, yet all components won't just be created...
             # self.solverName = 'solver'

python3/src/stlib3/physics/mixedmaterial/rigidification.py

@@ -161,7 +161,7 @@ def createScene(rootNode):
         o.RigidParts.addObject("FixedConstraint", indices=0)
 
         simulationNode = rootNode.addChild("Simulation")
-        simulationNode.addObject("EulerImplicitSolver")
+        simulationNode.addObject("EulerImplicitIntegrationScheme")
         simulationNode.addObject("CGLinearSolver", iterations=25, tolerance=1e-5, threshold=1e-5)
         simulationNode.addChild(o)
         return rootNode

python3/src/stlib3/physics/rigid/RigidObject.py

@@ -61,7 +61,7 @@ def RigidObject(name="RigidObject",
 
 
     if not isAStaticObject:
-        object.addObject('EulerImplicitSolver')
+        object.addObject('EulerImplicitIntegrationScheme')
         object.addObject('CGLinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
 
     def addCollisionModel(inputMesh=surfaceMeshFileName):

python3/src/stlib3/scene/interaction.py

@@ -14,7 +14,7 @@ class Interaction(object):
 
     def __init__(self, parent, targets):
         self.node = parent.addChild("Interaction")
-        self.node.addObject("EulerImplicitSolver")
+        self.node.addObject("EulerImplicitIntegrationScheme")
         self.node.addObject("CGLinearSolver", iterations=25, tolerance=1e-5, threshold=1e-5)
         for target in targets:
             self.node.addChild(target)

python3/src/stlib3/scene/scene.py

@@ -48,8 +48,8 @@ def addMainHeader(plugins=plugins, repositoryPaths=repositoryPaths, doDebug=Fals
             if "SofaPython3" not in plugins:
                 plugins.append("SofaPython3")
 
-            if "Sofa.Component.ODESolver.Backward":
-                plugins.append("Sofa.Component.ODESolver.Backward")
+            if "Sofa.Component.IntegrationSchemes.Backward":
+                plugins.append("Sofa.Component.IntegrationSchemes.Backward")
 
             if doDebug:
                 from splib3.debug import DebugManager
@@ -62,7 +62,7 @@ def addMainHeader(plugins=plugins, repositoryPaths=repositoryPaths, doDebug=Fals
             addSimulation()
 
         def addDefaultSolver(node):
-            node.addObject('EulerImplicitSolver', name='TimeIntegrationSchema')
+            node.addObject('EulerImplicitIntegrationScheme', name='TimeIntegrationSchema')
             if iterative:
                 node.addObject('CGLinearSolver', name='LinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
             else:

python3/src/stlib3/solver/defaultsolver.py

@@ -5,10 +5,10 @@ def DefaultSolver(node, iterative=True):
     Adds EulerImplicit, CGLinearSolver
 
     Components added:
-        EulerImplicitSolver
+        EulerImplicitIntegrationScheme
         CGLinearSolver
     '''
-    node.addObject('EulerImplicitSolver', name='TimeIntegrationSchema')
+    node.addObject('EulerImplicitIntegrationScheme', name='TimeIntegrationSchema')
     if iterative:
         return node.addObject('CGLinearSolver', name='LinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)