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49ae41d
Fix scenes with new integration schemes names
bakpaul Jun 11, 2026
0489e09
Fix tests
bakpaul Jun 11, 2026
f793fb3
Fix requiredPlugins
bakpaul Jun 11, 2026
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4 changes: 2 additions & 2 deletions examples/component/constraint/CableConstraint/CableSmoothActuation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand Down Expand Up @@ -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')
Expand Down
2 changes: 1 addition & 1 deletion examples/component/constraint/CableConstraint/DisplacementVsForceControl.py
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Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions examples/component/constraint/CableConstraint/Finger.py
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Expand Up @@ -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
Expand Down Expand Up @@ -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 .
Expand Down
2 changes: 1 addition & 1 deletion examples/component/constraint/CableConstraint/FingerWithSTLIB.py
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Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions examples/component/constraint/JointConstraint/JointConstraint.py
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Expand Up @@ -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]
Expand All @@ -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')

Expand Down
2 changes: 1 addition & 1 deletion examples/component/constraint/PositionConstraint/PositionConstraint.py
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Expand Up @@ -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')
Expand Down
2 changes: 1 addition & 1 deletion examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py
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Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions examples/component/constraint/SurfacePressureConstraint/Springy.py
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Expand Up @@ -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
Expand All @@ -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])
Expand Down
4 changes: 2 additions & 2 deletions examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
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Expand Up @@ -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]
Expand All @@ -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')
Expand Down
4 changes: 2 additions & 2 deletions examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
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Expand Up @@ -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
Expand Down Expand Up @@ -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')
Expand Down
4 changes: 2 additions & 2 deletions examples/component/controller/AnimationEditor/RigidAnimation.py
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Expand Up @@ -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
])
Expand All @@ -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],
Expand Down
2 changes: 1 addition & 1 deletion examples/component/controller/AnimationEditor/__init__.py
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Expand Up @@ -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],
Expand Down
2 changes: 1 addition & 1 deletion examples/component/controller/CommunicationController/SimulationDirect_Receiver.py
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Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions examples/component/controller/CommunicationController/SimulationInverse_Sender.py
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Expand Up @@ -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
Expand All @@ -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)
Expand Down
2 changes: 1 addition & 1 deletion examples/component/controller/CommunicationController/modules/accordion3.py
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Expand Up @@ -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')
Expand Down
8 changes: 4 additions & 4 deletions examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
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Expand Up @@ -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",
Expand Down Expand Up @@ -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],
Expand All @@ -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])
Expand Down
2 changes: 1 addition & 1 deletion examples/component/controller/DataVariationLimiter/__init__.py
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Expand Up @@ -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',
Expand Down
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