diff --git a/examples/component/constraint/CableConstraint/CableSmoothActuation.py b/examples/component/constraint/CableConstraint/CableSmoothActuation.py
index b73e04cf..0962e6cc 100644
--- a/examples/component/constraint/CableConstraint/CableSmoothActuation.py
+++ b/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.IntegrationSchemes.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')
diff --git a/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py b/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py
index da4dc02c..4e827d27 100644
--- a/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py
+++ b/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.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.Topology.Container.Constant", # Needed to use components MeshTopology
diff --git a/examples/component/constraint/CableConstraint/Finger.py b/examples/component/constraint/CableConstraint/Finger.py
index e9bb14fe..8322bc87 100644
--- a/examples/component/constraint/CableConstraint/Finger.py
+++ b/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.IntegrationSchemes.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 .
diff --git a/examples/component/constraint/CableConstraint/FingerWithSTLIB.py b/examples/component/constraint/CableConstraint/FingerWithSTLIB.py
index 1aded738..6c5f3ee3 100644
--- a/examples/component/constraint/CableConstraint/FingerWithSTLIB.py
+++ b/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.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.Topology.Container.Dynamic", # Needed to use components TetrahedronSetTopologyContainer
diff --git a/examples/component/constraint/JointConstraint/JointConstraint.py b/examples/component/constraint/JointConstraint/JointConstraint.py
index fea6d87c..a28bae67 100644
--- a/examples/component/constraint/JointConstraint/JointConstraint.py
+++ b/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.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 [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')
diff --git a/examples/component/constraint/PositionConstraint/PositionConstraint.py b/examples/component/constraint/PositionConstraint/PositionConstraint.py
index da3a6e08..f74c4a87 100644
--- a/examples/component/constraint/PositionConstraint/PositionConstraint.py
+++ b/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')
diff --git a/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py b/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py
index edeab60b..77e70dee 100644
--- a/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py
+++ b/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.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.Topology.Container.Constant", # Needed to use components MeshTopology
diff --git a/examples/component/constraint/SurfacePressureConstraint/Springy.py b/examples/component/constraint/SurfacePressureConstraint/Springy.py
index 5037f0bd..0910b7f6 100644
--- a/examples/component/constraint/SurfacePressureConstraint/Springy.py
+++ b/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.IntegrationSchemes.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])
diff --git a/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py b/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
index fdf4b25e..6bcc3392 100644
--- a/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
+++ b/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.IntegrationSchemes.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')
diff --git a/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py b/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
index f9e5b403..9fa9b42d 100644
--- a/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
+++ b/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.IntegrationSchemes.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')
diff --git a/examples/component/controller/AnimationEditor/RigidAnimation.py b/examples/component/controller/AnimationEditor/RigidAnimation.py
index 4ce55fde..65230bb2 100644
--- a/examples/component/controller/AnimationEditor/RigidAnimation.py
+++ b/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.IntegrationSchemes.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],
diff --git a/examples/component/controller/AnimationEditor/__init__.py b/examples/component/controller/AnimationEditor/__init__.py
index 4ff1a519..f5fb7816 100644
--- a/examples/component/controller/AnimationEditor/__init__.py
+++ b/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],
diff --git a/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py b/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py
index e0a5913a..c32d3127 100644
--- a/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py
+++ b/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.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.Topology.Container.Constant", # Needed to use components MeshTopology
diff --git a/examples/component/controller/CommunicationController/SimulationInverse_Sender.py b/examples/component/controller/CommunicationController/SimulationInverse_Sender.py
index 0bf8a182..0434efde 100644
--- a/examples/component/controller/CommunicationController/SimulationInverse_Sender.py
+++ b/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.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.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)
diff --git a/examples/component/controller/CommunicationController/modules/accordion3.py b/examples/component/controller/CommunicationController/modules/accordion3.py
index d40c1f5c..32502558 100644
--- a/examples/component/controller/CommunicationController/modules/accordion3.py
+++ b/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')
diff --git a/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py b/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
index c3619297..6eff6a3b 100644
--- a/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
+++ b/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
@@ -26,8 +26,8 @@ def createScene(rootNode):
"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.IntegrationSchemes.Backward",
+ # Needed to use components EulerImplicitIntegrationScheme
"Sofa.Component.Setting",
# Needed to use components BackgroundSetting
"Sofa.Component.SolidMechanics.FEM.Elastic",
@@ -62,7 +62,7 @@ def createScene(rootNode):
# 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, 5],
@@ -81,7 +81,7 @@ def createScene(rootNode):
# FEM Model #
##########################################
accordion = rootNode.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=pathMesh + 'Accordion.vtu', rotation=[90, 0, 0])
diff --git a/examples/component/controller/DataVariationLimiter/__init__.py b/examples/component/controller/DataVariationLimiter/__init__.py
index 5a736c88..12eb5b4e 100644
--- a/examples/component/controller/DataVariationLimiter/__init__.py
+++ b/examples/component/controller/DataVariationLimiter/__init__.py
@@ -28,7 +28,7 @@
.. sourcecode:: python
goal = rootNode.createChild('goal')
- goal.createObject('EulerImplicitSolver')
+ goal.createObject('EulerImplicitIntegrationScheme')
goal.createObject('CGLinearSolver', iterations='100', tolerance="1e-5", threshold="1e-5")
goal.createObject('MechanicalObject', name='goalMO',
position='0 0 5',
diff --git a/examples/component/engine/VolumeFromTetrahedrons/Finger.py b/examples/component/engine/VolumeFromTetrahedrons/Finger.py
index e72c21c7..3dd06bef 100644
--- a/examples/component/engine/VolumeFromTetrahedrons/Finger.py
+++ b/examples/component/engine/VolumeFromTetrahedrons/Finger.py
@@ -12,7 +12,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', pluginName=[
"Sofa.Component.IO.Mesh", # Needed to use components MeshSTLLoader, MeshVTKLoader
"Sofa.Component.LinearSolver.Iterative", # Needed to use components CGLinearSolver
- "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.Topology.Container.Dynamic",
# Needed to use components TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier
@@ -26,7 +26,7 @@ def createScene(rootNode):
# FEM Model #
##########################################
finger = rootNode.addChild('finger')
- finger.addObject('EulerImplicitSolver')
+ finger.addObject('EulerImplicitIntegrationScheme')
finger.addObject('CGLinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
finger.addObject('MeshVTKLoader', name='loader', filename=path + 'finger.vtk')
diff --git a/examples/component/engine/VolumeFromTriangles/Finger.py b/examples/component/engine/VolumeFromTriangles/Finger.py
index e27e956d..6a0258ee 100644
--- a/examples/component/engine/VolumeFromTriangles/Finger.py
+++ b/examples/component/engine/VolumeFromTriangles/Finger.py
@@ -11,7 +11,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', pluginName=[
"Sofa.Component.IO.Mesh", # Needed to use components MeshSTLLoader
"Sofa.Component.LinearSolver.Iterative", # Needed to use components CGLinearSolver
- "Sofa.Component.ODESolver.Backward", # Needed to use components EulerImplicitSolver
+ "Sofa.Component.IntegrationSchemes.Backward", # Needed to use components EulerImplicitIntegrationScheme
"Sofa.Component.Setting", # Needed to use components BackgroundSetting
"Sofa.Component.Topology.Container.Constant", # Needed to use components MeshTopology
"Sofa.Component.Visual", # Needed to use components VisualStyle
@@ -28,7 +28,7 @@ def createScene(rootNode):
# FEM Model #
##########################################
finger = rootNode.addChild('finger')
- finger.addObject('EulerImplicitSolver')
+ finger.addObject('EulerImplicitIntegrationScheme')
finger.addObject('CGLinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
finger.addObject('MeshSTLLoader', name='loader', filename=path + 'finger.stl')
diff --git a/examples/sofaros/test_sofaros.py b/examples/sofaros/test_sofaros.py
index 698cb96b..eeb8ce7d 100644
--- a/examples/sofaros/test_sofaros.py
+++ b/examples/sofaros/test_sofaros.py
@@ -16,8 +16,8 @@ def recv(data, datafield):
def createScene(rootNode):
rootNode.addObject('RequiredPlugin',
- pluginName=["Sofa.Component.ODESolver.Backward", "Sofa.Component.SceneUtility"])
- rootNode.addObject("EulerImplicitSolver")
+ pluginName=["Sofa.Component.IntegrationSchemes.Backward", "Sofa.Component.SceneUtility"])
+ rootNode.addObject("EulerImplicitIntegrationScheme")
rootNode.addObject("CGLinearSolver", iterations=25, threshold=1e-5, tolerance=1e-5)
rootNode.addObject('DefaultAnimationLoop')
rootNode.addObject('DefaultVisualManagerLoop')
diff --git a/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py b/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py
index 823e9567..b686e8e5 100644
--- a/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py
+++ b/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py
@@ -29,7 +29,7 @@ def createScene(rootNode):
# Beam model
beam = rootNode.addChild('beam')
- beam.addObject('EulerImplicitSolver')
+ beam.addObject('EulerImplicitIntegrationScheme')
beam.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixd')
beam.addObject('MeshTopology', edges=edgesList)
beam.addObject('MechanicalObject', template="Rigid3", position=positionsList, name='frame')
diff --git a/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Hexa/Hexa.py b/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Hexa/Hexa.py
index 66ac0518..d04acc74 100644
--- a/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Hexa/Hexa.py
+++ b/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Hexa/Hexa.py
@@ -21,7 +21,7 @@ def createScene(rootNode):
###############################
robot = rootNode.addChild('robot')
- robot.addObject('EulerImplicitSolver')
+ robot.addObject('EulerImplicitIntegrationScheme')
robot.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
# Here you set the Hexahedron topology
robot.addObject('MeshSTLLoader', name='loader', filename=path + 'branch.stl')
diff --git a/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Tetra/Tetra.py b/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Tetra/Tetra.py
index 5365b780..282e509d 100644
--- a/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Tetra/Tetra.py
+++ b/examples/thematicalDocs/T1-Elements_TetraHexaBeam/Tetra/Tetra.py
@@ -22,7 +22,7 @@ def createScene(rootNode):
###############################
robot = rootNode.addChild('robot')
- robot.addObject('EulerImplicitSolver')
+ robot.addObject('EulerImplicitIntegrationScheme')
robot.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
robot.addObject('MeshVTKLoader', name='loader', filename=path + 'branch.vtu')
# Here you set the tetrahedra topology
diff --git a/examples/thematicalDocs/T3-MaterialProperties/Elastic/Simulation.py b/examples/thematicalDocs/T3-MaterialProperties/Elastic/Simulation.py
index a0abd3cb..9ac44879 100644
--- a/examples/thematicalDocs/T3-MaterialProperties/Elastic/Simulation.py
+++ b/examples/thematicalDocs/T3-MaterialProperties/Elastic/Simulation.py
@@ -22,7 +22,7 @@ def createScene(rootNode):
###############################
robot = rootNode.addChild('robot')
- robot.addObject('EulerImplicitSolver')
+ robot.addObject('EulerImplicitIntegrationScheme')
robot.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
robot.addObject('MeshVTKLoader', name='loader', filename=path + 'branch.vtu')
robot.addObject('TetrahedronSetTopologyContainer', position='@loader.position', tetrahedra='@loader.tetrahedra',
diff --git a/examples/thematicalDocs/T3-MaterialProperties/Hyperelastic/Simulation.py b/examples/thematicalDocs/T3-MaterialProperties/Hyperelastic/Simulation.py
index 2e5b8ea1..0e0c6707 100644
--- a/examples/thematicalDocs/T3-MaterialProperties/Hyperelastic/Simulation.py
+++ b/examples/thematicalDocs/T3-MaterialProperties/Hyperelastic/Simulation.py
@@ -22,7 +22,7 @@ def createScene(rootNode):
###############################
robot = rootNode.addChild('robot')
- robot.addObject('EulerImplicitSolver')
+ robot.addObject('EulerImplicitIntegrationScheme')
robot.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
robot.addObject('MeshVTKLoader', name='loader', filename=path + 'branch.vtu')
robot.addObject('TetrahedronSetTopologyContainer', position='@loader.position', tetrahedra='@loader.tetrahedra',
diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
index 8951efe9..29be5546 100644
--- a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
+++ b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
@@ -24,7 +24,7 @@ def createScene(rootNode):
# FEM Model #
##########################################
finger = rootNode.addChild('finger')
- finger.addObject('EulerImplicitSolver', name='odesolver', firstOrder=True)
+ finger.addObject('EulerImplicitIntegrationScheme', name='odesolver', firstOrder=True)
finger.addObject('SparseLDLSolver', name='preconditioner', template='CompressedRowSparseMatrixMat3x3d')
# Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene .
diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
index f2345d1d..e6231bee 100644
--- a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
+++ b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
@@ -24,7 +24,7 @@ def createScene(rootNode):
# FEM Model #
##########################################
finger = rootNode.addChild('finger')
- finger.addObject('EulerImplicitSolver', name='odesolver', firstOrder=True)
+ finger.addObject('EulerImplicitIntegrationScheme', name='odesolver', firstOrder=True)
finger.addObject('SparseLDLSolver', name='preconditioner', template='CompressedRowSparseMatrixMat3x3d')
# Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene .
diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
index 8c2d0043..483cb025 100644
--- a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
+++ b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
@@ -18,7 +18,7 @@ def createScene(rootNode):
# bunny mechanical model
bunny = rootNode.addChild('bunny')
- bunny.addObject('EulerImplicitSolver', name='odesolver')
+ bunny.addObject('EulerImplicitIntegrationScheme', name='odesolver')
bunny.addObject('SparseLDLSolver', name='LDLsolver')
bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
bunny.addObject('TetrahedronSetTopologyContainer', src='@loader', name='container')
diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
index cf82cd19..521a6355 100644
--- a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
+++ b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
@@ -16,7 +16,7 @@ def createScene(rootNode):
# bunny mechanical model
bunny = rootNode.addChild('bunny')
- bunny.addObject('EulerImplicitSolver', name='odesolver')
+ bunny.addObject('EulerImplicitIntegrationScheme', name='odesolver')
bunny.addObject('SparseLDLSolver', name='LDLsolver')
bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
bunny.addObject('TetrahedronSetTopologyContainer', src='@loader', name='container')
diff --git a/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py b/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
index 023c9c6f..75aa484d 100644
--- a/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
+++ b/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
@@ -28,7 +28,7 @@ def createScene(rootNode):
###############################
robot = rootNode.addChild('robot')
- robot.addObject('EulerImplicitSolver', name='odesolver', firstOrder=False)
+ robot.addObject('EulerImplicitIntegrationScheme', name='odesolver', firstOrder=False)
robot.addObject('SparseLDLSolver')
robot.addObject('MeshVTKLoader', name='loader', filename=path + 'branch.vtu')
robot.addObject('TetrahedronSetTopologyContainer', position='@loader.position', tetrahedra='@loader.tetrahedra',
diff --git a/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.psl b/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.psl
index f1ec1de4..4e4592c4 100644
--- a/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.psl
+++ b/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.psl
@@ -15,7 +15,7 @@ Node : { name : "root"
#goal
###########################
Node : { name : "goal"
- EulerImplicitSolver : {firstOrder : "1"}
+ EulerImplicitIntegrationScheme : {firstOrder : "1"}
CGLinearSolver : {iterations : "200" tolerance : "1e-05" threshold : "1e-05"}
MechanicalObject : {
name : "goalMO"
@@ -31,7 +31,7 @@ Node : { name : "root"
#robot
###########################
Node : {name : "robot"
- EulerImplicitSolver : {}
+ EulerImplicitIntegrationScheme : {}
ShewchukPCGLinearSolver : {iterations : "25" tolerance : "1e-15" preconditioners : "preconditioner"}
SparseLDLSolver : {name : "preconditioner"}
MeshVTKLoader : {name : "loader" filename : "mesh/branch.vtu"}
diff --git a/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.py b/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.py
index 919099d7..573212d2 100644
--- a/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.py
+++ b/examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.py
@@ -29,7 +29,7 @@ def createScene(rootNode):
# EFFECTOR GOAL
##########################################
goal = rootNode.addChild('goal')
- goal.addObject('EulerImplicitSolver', firstOrder=True)
+ goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
goal.addObject('CGLinearSolver', iterations=200, threshold=1e-5, tolerance=1e-5)
goal.addObject('MechanicalObject', name='goalMO',
showObject=1,
@@ -43,7 +43,7 @@ def createScene(rootNode):
###############################
robot = rootNode.addChild('robot')
- robot.addObject('EulerImplicitSolver', name='odesolver', firstOrder=False)
+ robot.addObject('EulerImplicitIntegrationScheme', name='odesolver', firstOrder=False)
robot.addObject('SparseLDLSolver')
robot.addObject('MeshVTKLoader', name='loader', filename=path + 'branch.vtu')
robot.addObject('MeshTopology', src='@loader')
diff --git a/examples/tutorials/CircularRobot/circularrobot.py b/examples/tutorials/CircularRobot/circularrobot.py
index 32abf670..e26fe3a5 100644
--- a/examples/tutorials/CircularRobot/circularrobot.py
+++ b/examples/tutorials/CircularRobot/circularrobot.py
@@ -7,7 +7,7 @@
def Target(parentNode):
target = parentNode.addChild('Target')
- target.addObject('EulerImplicitSolver', firstOrder=True)
+ target.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
target.addObject('CGLinearSolver', iterations=100, tolerance=1e-4, threshold=1e-4)
target.addObject('MechanicalObject', name='dofs', showObject=True, showObjectScale=5, drawMode=1,
position=[0, 0, 5])
@@ -55,7 +55,7 @@ def __init__(self, parentNode, youngModulus=500, poissonRatio=0.3, totalMass=0.0
self.node = parentNode.addChild('CircularRobot')
if withSolver:
- self.node.addObject('EulerImplicitSolver', rayleighMass=0.015, rayleighStiffness=0.015)
+ self.node.addObject('EulerImplicitIntegrationScheme', rayleighMass=0.015, rayleighStiffness=0.015)
self.node.addObject('SparseLDLSolver')
self.node.addObject("GenericConstraintCorrection")
@@ -130,8 +130,8 @@ def createScene(rootNode):
"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.IntegrationSchemes.Backward",
+ # Needed to use components EulerImplicitIntegrationScheme
"Sofa.Component.SolidMechanics.FEM.Elastic",
# Needed to use components TetrahedronFEMForceField
"Sofa.Component.Topology.Container.Constant",
diff --git a/examples/tutorials/DiamondRobot/DiamondRobot.py b/examples/tutorials/DiamondRobot/DiamondRobot.py
index 4d4dce62..f1c2a7c7 100644
--- a/examples/tutorials/DiamondRobot/DiamondRobot.py
+++ b/examples/tutorials/DiamondRobot/DiamondRobot.py
@@ -27,7 +27,7 @@ def createScene(rootNode):
"Sofa.Component.LinearSolver.Direct", # Needed to use components SparseLDLSolver
"Sofa.Component.LinearSolver.Iterative", # Needed to use components ShewchukPCGLinearSolver
"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.Topology.Container.Constant", # Needed to use components MeshTopology
"Sofa.Component.Visual", # Needed to use components VisualStyle
@@ -40,7 +40,7 @@ def createScene(rootNode):
# Robot
robot = rootNode.addChild('Robot')
# The solvers
- robot.addObject('EulerImplicitSolver')
+ robot.addObject('EulerImplicitIntegrationScheme')
robot.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
# Load the volume mesh
robot.addObject('MeshVTKLoader', name="loader", filename=meshRobot)
diff --git a/examples/tutorials/FirstSteps/details/step1.py b/examples/tutorials/FirstSteps/details/step1.py
index 331b1326..f634cae0 100644
--- a/examples/tutorials/FirstSteps/details/step1.py
+++ b/examples/tutorials/FirstSteps/details/step1.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
"Sofa.Component.Visual",
diff --git a/examples/tutorials/FirstSteps/details/step2.py b/examples/tutorials/FirstSteps/details/step2.py
index fa41fad6..c76a2ab0 100644
--- a/examples/tutorials/FirstSteps/details/step2.py
+++ b/examples/tutorials/FirstSteps/details/step2.py
@@ -8,7 +8,7 @@ def createScene(rootNode):
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
"Sofa.Component.Visual",
@@ -37,7 +37,7 @@ def createScene(rootNode):
# Time integration and solver
- cube.addObject('EulerImplicitSolver', name='odesolver')
+ cube.addObject('EulerImplicitIntegrationScheme', name='odesolver')
cube.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-5, threshold=1e-5)
# Visual Object of the Cube
diff --git a/examples/tutorials/FirstSteps/details/step3.py b/examples/tutorials/FirstSteps/details/step3.py
index 745fce3c..13805171 100644
--- a/examples/tutorials/FirstSteps/details/step3.py
+++ b/examples/tutorials/FirstSteps/details/step3.py
@@ -14,7 +14,7 @@ def createScene(rootNode):
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
"Sofa.Component.Visual",
@@ -44,7 +44,7 @@ def createScene(rootNode):
# Time integration and solver
- cube.addObject('EulerImplicitSolver', name='odesolver')
+ cube.addObject('EulerImplicitIntegrationScheme', name='odesolver')
cube.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-5, threshold=1e-5)
# Visual Object of the Cube
diff --git a/examples/tutorials/FirstSteps/details/step4.py b/examples/tutorials/FirstSteps/details/step4.py
index 929af0e2..0d1b5228 100644
--- a/examples/tutorials/FirstSteps/details/step4.py
+++ b/examples/tutorials/FirstSteps/details/step4.py
@@ -16,7 +16,7 @@ def createScene(rootNode):
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
"Sofa.Component.Visual",
diff --git a/examples/tutorials/FirstSteps/firststeps-tuto.py b/examples/tutorials/FirstSteps/firststeps-tuto.py
index ee4bf4fb..a403e575 100644
--- a/examples/tutorials/FirstSteps/firststeps-tuto.py
+++ b/examples/tutorials/FirstSteps/firststeps-tuto.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
"Sofa.Component.Visual",
diff --git a/examples/tutorials/PneunetGripper/details/step5-timeIntegrationAndMatrixSolver.py b/examples/tutorials/PneunetGripper/details/step5-timeIntegrationAndMatrixSolver.py
index 089b2a22..607397ff 100644
--- a/examples/tutorials/PneunetGripper/details/step5-timeIntegrationAndMatrixSolver.py
+++ b/examples/tutorials/PneunetGripper/details/step5-timeIntegrationAndMatrixSolver.py
@@ -13,7 +13,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshVTKLoader]
rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver]
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.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField]
rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]
@@ -22,7 +22,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', name='Sofa.GUI.Component') # Needed to use components [AttachBodyButtonSetting]
finger = rootNode.addChild('Finger')
- finger.addObject('EulerImplicitSolver')
+ finger.addObject('EulerImplicitIntegrationScheme')
finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixd')
finger.addObject('MeshVTKLoader', name='loader', filename='data/mesh/pneunetCutCoarse.vtk')
finger.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py b/examples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
index 4d836b94..dd592849 100644
--- a/examples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
+++ b/examples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
@@ -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.Elastic') # Needed to use components [TetrahedronFEMForceField]
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]
@@ -28,7 +28,7 @@ def createScene(rootNode):
rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-7, maxIterations=1000)
finger = rootNode.addChild('Finger')
- finger.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)
+ finger.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.1, rayleighMass=0.1)
finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixd')
finger.addObject('MeshVTKLoader', name='loader', filename='data/mesh/pneunetCutCoarse.vtk')
finger.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
index 0ae7e277..ebb347cd 100644
--- a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
+++ b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
@@ -32,7 +32,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping]
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.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]
rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField]
@@ -75,7 +75,7 @@ def createScene(rootNode):
# Cube
##########################################
cube = rootNode.addChild('Cube')
- cube.addObject('EulerImplicitSolver')
+ cube.addObject('EulerImplicitIntegrationScheme')
cube.addObject('CGLinearSolver', threshold=1e-5, tolerance=1e-5, iterations=50)
cube.addObject('MechanicalObject', template='Rigid3', position=[-100, 70, 0, 0, 0, 0, 1])
cube.addObject('UniformMass', totalMass=0.001)
@@ -102,7 +102,7 @@ def createScene(rootNode):
# Finger Model
##########################################
finger = rootNode.addChild('Finger' + str(i + 1))
- finger.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
+ finger.addObject('EulerImplicitIntegrationScheme', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
finger.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
finger.addObject('MeshVTKLoader', name='loader', filename='data/mesh/pneunetCutCoarse.vtk',
rotation=[360 - angles[i] * 180 / math.pi, 0, 0], translation=translations[i])
diff --git a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py
index 2ffa545c..c3790aa1 100644
--- a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py
+++ b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py
@@ -30,7 +30,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping]
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.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.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField]
rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]
diff --git a/examples/tutorials/PneunetGripper/pneunetgripper-tuto.html b/examples/tutorials/PneunetGripper/pneunetgripper-tuto.html
index 906f31a8..a4fad042 100644
--- a/examples/tutorials/PneunetGripper/pneunetgripper-tuto.html
+++ b/examples/tutorials/PneunetGripper/pneunetgripper-tuto.html
@@ -231,7 +231,7 @@ Appendix
planeNode.addObject('OglModel',name='Visual', src='@loader', color=[1, 0, 0, 1])
cube = rootNode.addChild('cube')
- cube.addObject('EulerImplicitSolver', name='odesolver')
+ cube.addObject('EulerImplicitIntegrationScheme', name='odesolver')
cube.addObject('SparseLDLSolver', name='linearSolver')
cube.addObject('MechanicalObject', template='Rigid3', position=[-100, 70, 0, 0, 0, 0, 1])
cube.addObject('UniformMass', totalMass=0.001)
@@ -258,7 +258,7 @@ Appendix
# Finger Model #
##########################################
finger = rootNode.addChild('finger'+str(i+1))
- finger.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
+ finger.addObject('EulerImplicitIntegrationScheme', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
finger.addObject('SparseLDLSolver', name='preconditioner')
finger.addObject('MeshVTKLoader', name='loader', filename='data/mesh/pneunetCutCoarse.vtk', rotation=[360 - angles[i]*180/math.pi, 0, 0], translation = translations[i])
diff --git a/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md b/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md
index 6f745b8c..5f66dd08 100644
--- a/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md
+++ b/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md
@@ -246,7 +246,7 @@ def createScene(rootNode):
planeNode.addObject('OglModel',name='Visual', src='@loader', color=[1, 0, 0, 1])
cube = rootNode.addChild('cube')
- cube.addObject('EulerImplicitSolver', name='odesolver')
+ cube.addObject('EulerImplicitIntegrationScheme', name='odesolver')
cube.addObject('SparseLDLSolver', name='linearSolver')
cube.addObject('MechanicalObject', template='Rigid3', position=[-100, 70, 0, 0, 0, 0, 1])
cube.addObject('UniformMass', totalMass=0.001)
@@ -273,7 +273,7 @@ def createScene(rootNode):
# Finger Model #
##########################################
finger = rootNode.addChild('finger'+str(i+1))
- finger.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
+ finger.addObject('EulerImplicitIntegrationScheme', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
finger.addObject('SparseLDLSolver', name='preconditioner')
finger.addObject('MeshVTKLoader', name='loader', filename='data/mesh/pneunetCutCoarse.vtk', rotation=[360 - angles[i]*180/math.pi, 0, 0], translation = translations[i])
diff --git a/examples/tutorials/SoftArmGripper/header.py b/examples/tutorials/SoftArmGripper/header.py
index f742ee8c..f0756fc9 100644
--- a/examples/tutorials/SoftArmGripper/header.py
+++ b/examples/tutorials/SoftArmGripper/header.py
@@ -16,7 +16,7 @@ def addHeader(node):
"Sofa.Component.IO.Mesh", # Needed to use components MeshOBJLoader
"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.IntegrationSchemes.Backward", # Needed to use components EulerImplicitIntegrationScheme
"Sofa.Component.Setting", # Needed to use components BackgroundSetting
"Sofa.Component.SolidMechanics.Spring", # Needed to use components RestShapeSpringsForceField
"Sofa.Component.Topology.Container.Constant", # Needed to use components MeshTopology
diff --git a/examples/tutorials/SoftArmGripper/scene.py b/examples/tutorials/SoftArmGripper/scene.py
index c0d11a4f..69543064 100644
--- a/examples/tutorials/SoftArmGripper/scene.py
+++ b/examples/tutorials/SoftArmGripper/scene.py
@@ -32,7 +32,7 @@ def addArm(node):
size = params.Arm.nbRibs * params.Arm.nbSection
arm = node.addChild("Arm")
arm.addData(name='nbDofs', value=len(position), type='int')
- arm.addObject('EulerImplicitSolver', firstOrder=True)
+ arm.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
arm.addObject('SparseLDLSolver', name='ldl', template='CompressedRowSparseMatrixMat3x3d')
arm.addObject('GenericConstraintCorrection')
arm.addObject('MeshTopology', position=position, edges=edges)
@@ -73,7 +73,7 @@ def addFinger(node, fingerId, translation, rotation):
cable = [[], [], []]
finger = node.addChild('Finger' + str(fingerId + 1))
- finger.addObject('EulerImplicitSolver', firstOrder=False)
+ finger.addObject('EulerImplicitIntegrationScheme', firstOrder=False)
finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
finger.addObject('GenericConstraintCorrection')
finger.addObject('MeshVTKLoader', name='loader', filename=params.Simulation.path + '/mesh/finger.vtk',
@@ -172,7 +172,7 @@ def createScene(rootnode):
# You can select the target with the mouse (left click) while pressing the shift key on the keyboard.
# Once selected you can move the target around and see the robot follow.
target = rootnode.addChild('Target')
- target.addObject('EulerImplicitSolver', firstOrder=True)
+ target.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
target.addObject('CGLinearSolver', iterations=10, threshold=1e-5, tolerance=1e-5)
target.addObject('MechanicalObject', name='dofs', template='Rigid3', position=[0, 880, 0, 0, 0, 0, 1])
target.addObject('SphereCollisionModel', radius=20)
diff --git a/examples/tutorials/SoftFingerDesign/details/cylinder.py b/examples/tutorials/SoftFingerDesign/details/cylinder.py
index cb387dfd..44417193 100644
--- a/examples/tutorials/SoftFingerDesign/details/cylinder.py
+++ b/examples/tutorials/SoftFingerDesign/details/cylinder.py
@@ -63,7 +63,7 @@ def Cylinder(name="Cylinder",
object.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
if not isAStaticObject:
- object.addObject('EulerImplicitSolver')
+ object.addObject('EulerImplicitIntegrationScheme')
object.addObject('CGLinearSolver')
def addCollisionModel(inputMesh=surfaceMeshFileName):
diff --git a/examples/tutorials/SoftFingerDesign/details/elastic_material_object.py b/examples/tutorials/SoftFingerDesign/details/elastic_material_object.py
index a8780bd5..514f430b 100644
--- a/examples/tutorials/SoftFingerDesign/details/elastic_material_object.py
+++ b/examples/tutorials/SoftFingerDesign/details/elastic_material_object.py
@@ -26,7 +26,7 @@ def __init__(self, *args, **kwargs):
def init(self):
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")
if self.volumeMeshFileName.value == '':
diff --git a/examples/tutorials/Tripod/details/maze.py b/examples/tutorials/Tripod/details/maze.py
index b751b25e..2b1b8dac 100644
--- a/examples/tutorials/Tripod/details/maze.py
+++ b/examples/tutorials/Tripod/details/maze.py
@@ -39,7 +39,7 @@ def __init__(self, *args, **kwargs):
def init(self):
if self.withSolver.value:
- self.addObject('EulerImplicitSolver')
+ self.addObject('EulerImplicitIntegrationScheme')
self.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
self.addObject('GenericConstraintCorrection')
self.addObject("MechanicalObject", position=self.position.value)
@@ -60,7 +60,7 @@ def createScene(rootNode):
"Sofa.Component.Constraint.Lagrangian.Solver",
"Sofa.Component.IO.Mesh", "Sofa.Component.LinearSolver.Direct",
"Sofa.Component.LinearSolver.Iterative", "Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.SolidMechanics.Spring",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
@@ -74,7 +74,7 @@ def createScene(rootNode):
rootNode.addObject('DefaultVisualManagerLoop')
effector = rootNode.addChild('Effector')
- effector.addObject('EulerImplicitSolver', firstOrder=True)
+ effector.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
effector.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1],
showObject=True, showObjectScale=10)
diff --git a/examples/tutorials/Tripod/details/step8-maze.py b/examples/tutorials/Tripod/details/step8-maze.py
index 31337a74..f68c5fe6 100644
--- a/examples/tutorials/Tripod/details/step8-maze.py
+++ b/examples/tutorials/Tripod/details/step8-maze.py
@@ -13,7 +13,7 @@
def EffectorGoal(node, position):
goal = node.addChild('Goal')
- goal.addObject('EulerImplicitSolver', firstOrder=True)
+ goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
goal.addObject('CGLinearSolver', iterations=100, threshold=1e-12, tolerance=1e-10)
goal.addObject('MechanicalObject', name='goalMO', template='Rigid3', position=position+[0., 0., 0., 1.], showObject=True, showObjectScale=10)
goal.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5)
diff --git a/examples/tutorials/Tripod/details/step8.py b/examples/tutorials/Tripod/details/step8.py
index cdb16192..a52f45b2 100644
--- a/examples/tutorials/Tripod/details/step8.py
+++ b/examples/tutorials/Tripod/details/step8.py
@@ -11,7 +11,7 @@
def EffectorGoal(position):
self = Sofa.Core.Node('Goal')
- self.addObject('EulerImplicitSolver', firstOrder=True)
+ self.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
self.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
self.addObject('MechanicalObject', name='goalMO', template='Rigid3', position=position + [0., 0., 0., 1.],
showObject=True, showObjectScale=10)
diff --git a/examples/tutorials/Tripod/details/step9.py b/examples/tutorials/Tripod/details/step9.py
index 53142aa2..e276dae8 100644
--- a/examples/tutorials/Tripod/details/step9.py
+++ b/examples/tutorials/Tripod/details/step9.py
@@ -11,7 +11,7 @@
def EffectorGoal(position, name='Goal'):
self = Sofa.Core.Node(name)
- self.addObject('EulerImplicitSolver', firstOrder=True)
+ self.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
self.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
self.addObject('MechanicalObject', name='goalMO', template='Rigid3', position=position + [0., 0., 0., 1.],
showObject=True, showObjectScale=10)
diff --git a/examples/tutorials/Tripod/details/tutorial.py b/examples/tutorials/Tripod/details/tutorial.py
index 1be6bcef..c53fd7e2 100644
--- a/examples/tutorials/Tripod/details/tutorial.py
+++ b/examples/tutorials/Tripod/details/tutorial.py
@@ -51,7 +51,7 @@ def Modelling(parent):
def Simulation(parent):
"""add an empty node for simulation"""
simulation = parent.addChild("Simulation")
- simulation.addObject("EulerImplicitSolver")
+ simulation.addObject("EulerImplicitIntegrationScheme")
simulation.addObject("CGLinearSolver", iterations=250, tolerance=1e-20, threshold=1e-20)
return simulation
diff --git a/examples/tutorials/Tripod/myproject/maze.py b/examples/tutorials/Tripod/myproject/maze.py
index b751b25e..2b1b8dac 100644
--- a/examples/tutorials/Tripod/myproject/maze.py
+++ b/examples/tutorials/Tripod/myproject/maze.py
@@ -39,7 +39,7 @@ def __init__(self, *args, **kwargs):
def init(self):
if self.withSolver.value:
- self.addObject('EulerImplicitSolver')
+ self.addObject('EulerImplicitIntegrationScheme')
self.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
self.addObject('GenericConstraintCorrection')
self.addObject("MechanicalObject", position=self.position.value)
@@ -60,7 +60,7 @@ def createScene(rootNode):
"Sofa.Component.Constraint.Lagrangian.Solver",
"Sofa.Component.IO.Mesh", "Sofa.Component.LinearSolver.Direct",
"Sofa.Component.LinearSolver.Iterative", "Sofa.Component.Mass",
- "Sofa.Component.ODESolver.Backward",
+ "Sofa.Component.IntegrationSchemes.Backward",
"Sofa.Component.SolidMechanics.Spring",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Constant",
@@ -74,7 +74,7 @@ def createScene(rootNode):
rootNode.addObject('DefaultVisualManagerLoop')
effector = rootNode.addChild('Effector')
- effector.addObject('EulerImplicitSolver', firstOrder=True)
+ effector.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
effector.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1],
showObject=True, showObjectScale=10)
diff --git a/examples/tutorials/Tripod/myproject/parts/maze.py b/examples/tutorials/Tripod/myproject/parts/maze.py
index 9dba6ffc..efe8e306 100644
--- a/examples/tutorials/Tripod/myproject/parts/maze.py
+++ b/examples/tutorials/Tripod/myproject/parts/maze.py
@@ -36,7 +36,7 @@ def __init__(self, *args, **kwargs):
def init(self):
if self.withSolver.value:
- self.addObject('EulerImplicitSolver')
+ self.addObject('EulerImplicitIntegrationScheme')
self.addObject('SparseLDLSolver')
self.addObject('GenericConstraintCorrection')
self.addObject("MechanicalObject", position=self.position.value)
@@ -52,7 +52,7 @@ def createScene(rootNode):
rootNode.addObject('DefaultVisualManagerLoop')
effector = rootNode.addChild('Effector')
- effector.addObject('EulerImplicitSolver', firstOrder=True)
+ effector.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
effector.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1],
showObject=True, showObjectScale=10)
diff --git a/examples/tutorials/Tripod/myproject/parts/tutorial.py b/examples/tutorials/Tripod/myproject/parts/tutorial.py
index fbd0d1ff..4a69471e 100644
--- a/examples/tutorials/Tripod/myproject/parts/tutorial.py
+++ b/examples/tutorials/Tripod/myproject/parts/tutorial.py
@@ -51,7 +51,7 @@ def Modelling(parent):
def Simulation(parent):
"""add an empty node for simulation"""
simulation = parent.addChild("Simulation")
- simulation.addObject("EulerImplicitSolver")
+ simulation.addObject("EulerImplicitIntegrationScheme")
simulation.addObject("CGLinearSolver", iterations=250, tolerance=1e-20, threshold=1e-20)
return simulation
diff --git a/examples/tutorials/Tripod/myproject/step8-maze.py b/examples/tutorials/Tripod/myproject/step8-maze.py
index 0de6977a..ac36d658 100644
--- a/examples/tutorials/Tripod/myproject/step8-maze.py
+++ b/examples/tutorials/Tripod/myproject/step8-maze.py
@@ -13,7 +13,7 @@
def EffectorGoal(node, position):
goal = node.addChild('Goal')
- goal.addObject('EulerImplicitSolver', firstOrder=True)
+ goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
goal.addObject('CGLinearSolver', iterations=100, threshold=1e-12, tolerance=1e-10)
goal.addObject('MechanicalObject', name='goalMO', template='Rigid3', position=position+[0., 0., 0., 1.], showObject=True, showObjectScale=10)
goal.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5)
diff --git a/examples/tutorials/Tripod/myproject/step9.py b/examples/tutorials/Tripod/myproject/step9.py
index 53142aa2..e276dae8 100644
--- a/examples/tutorials/Tripod/myproject/step9.py
+++ b/examples/tutorials/Tripod/myproject/step9.py
@@ -11,7 +11,7 @@
def EffectorGoal(position, name='Goal'):
self = Sofa.Core.Node(name)
- self.addObject('EulerImplicitSolver', firstOrder=True)
+ self.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
self.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
self.addObject('MechanicalObject', name='goalMO', template='Rigid3', position=position + [0., 0., 0., 1.],
showObject=True, showObjectScale=10)
diff --git a/examples/tutorials/Tripod/myproject/tutorial.py b/examples/tutorials/Tripod/myproject/tutorial.py
index 1be6bcef..c53fd7e2 100644
--- a/examples/tutorials/Tripod/myproject/tutorial.py
+++ b/examples/tutorials/Tripod/myproject/tutorial.py
@@ -51,7 +51,7 @@ def Modelling(parent):
def Simulation(parent):
"""add an empty node for simulation"""
simulation = parent.addChild("Simulation")
- simulation.addObject("EulerImplicitSolver")
+ simulation.addObject("EulerImplicitIntegrationScheme")
simulation.addObject("CGLinearSolver", iterations=250, tolerance=1e-20, threshold=1e-20)
return simulation
diff --git a/examples/tutorials/Tripod/tripod-tuto.html b/examples/tutorials/Tripod/tripod-tuto.html
index e42de69a..7ab082fb 100644
--- a/examples/tutorials/Tripod/tripod-tuto.html
+++ b/examples/tutorials/Tripod/tripod-tuto.html
@@ -148,7 +148,7 @@