From ca429bacac22d33203517ad165e55fd8d5f63604 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Wed, 10 Jun 2026 18:27:58 +0200 Subject: [PATCH 1/4] Apply changes from SOFA PR #6117 --- BeamAdapter_test/BeamInterpolation_test.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/BeamAdapter_test/BeamInterpolation_test.cpp b/BeamAdapter_test/BeamInterpolation_test.cpp index bb0b2ccd4..2e107cff5 100644 --- a/BeamAdapter_test/BeamInterpolation_test.cpp +++ b/BeamAdapter_test/BeamInterpolation_test.cpp @@ -66,7 +66,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest, { void doSetUp() override { - sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward); + sofa::simpleapi::importPlugin(Sofa.Component.IntegrationSchemes.Backward); sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant); From 635a19fe51b0decb73648369af943978d4fd75a9 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Thu, 11 Jun 2026 09:33:23 +0200 Subject: [PATCH 2/4] Fix scenes --- examples/3instruments.scn | 4 ++-- examples/3instruments_collis.scn | 4 ++-- examples/AdaptiveBeamController.scn | 6 +++--- examples/AdaptiveBeamMapping.scn | 4 ++-- examples/SingleBeam.scn | 4 ++-- examples/SingleBeamDeployment.scn | 4 ++-- examples/SingleBeamDeploymentCollision.scn | 4 ++-- examples/Tool_from_loader.scn | 4 ++-- .../python3/Cochlear-Implant-Insertion/Scene_Cochlea.py | 2 +- examples/python3/SingleBeam.py | 2 +- examples/python3/SingleBeamDeployment.py | 2 +- examples/python3/SingleBeamDeploymentCollision.py | 2 +- examples/python3/beamadapter/parts/instrument.py | 4 ++-- .../component/BeamProjectionDifferenceMultiMapping.py | 4 ++-- 14 files changed, 25 insertions(+), 25 deletions(-) diff --git a/examples/3instruments.scn b/examples/3instruments.scn index bf363e1da..1094a7438 100644 --- a/examples/3instruments.scn +++ b/examples/3instruments.scn @@ -5,7 +5,7 @@ - + @@ -57,7 +57,7 @@ - + - + @@ -73,7 +73,7 @@ - + - + @@ -12,7 +12,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/AdaptiveBeamMapping.scn b/examples/AdaptiveBeamMapping.scn index 78f978353..75feea277 100644 --- a/examples/AdaptiveBeamMapping.scn +++ b/examples/AdaptiveBeamMapping.scn @@ -3,7 +3,7 @@ - + @@ -15,7 +15,7 @@ - + diff --git a/examples/SingleBeam.scn b/examples/SingleBeam.scn index d8a41b798..aed28f3f7 100644 --- a/examples/SingleBeam.scn +++ b/examples/SingleBeam.scn @@ -3,7 +3,7 @@ - + @@ -13,7 +13,7 @@ - + diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn index 8df2f615c..51dea03d6 100644 --- a/examples/SingleBeamDeployment.scn +++ b/examples/SingleBeamDeployment.scn @@ -3,7 +3,7 @@ - + @@ -26,7 +26,7 @@ - + - + @@ -44,7 +44,7 @@ - + - + @@ -37,7 +37,7 @@ - + Date: Thu, 11 Jun 2026 10:02:17 +0200 Subject: [PATCH 3/4] Fix tests --- BeamAdapter_test/BeamInterpolation_test.cpp | 4 ++-- .../forcefield/AdaptiveBeamForceFieldAndMassTest.cpp | 4 ++-- BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/BeamAdapter_test/BeamInterpolation_test.cpp b/BeamAdapter_test/BeamInterpolation_test.cpp index 2e107cff5..1217a35dc 100644 --- a/BeamAdapter_test/BeamInterpolation_test.cpp +++ b/BeamAdapter_test/BeamInterpolation_test.cpp @@ -88,7 +88,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest, " " " " " " - " " + " " " " " " " " @@ -142,7 +142,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest, string scene = "" "" - " " + " " " " " $line1" " " diff --git a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp index 7e6e06e34..1fa8d5d69 100644 --- a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp +++ b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp @@ -54,7 +54,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT " " " " " " - " " + " " " " " " " " @@ -97,7 +97,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT " " " " " " - " " + " " " " " " " " diff --git a/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp b/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp index d16be01f4..2b715492a 100644 --- a/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp +++ b/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp @@ -193,7 +193,7 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng "" " " " " - " " + " " " " " " " " From 1740fe54c66a0452500f98b385cf4566024731fb Mon Sep 17 00:00:00 2001 From: bakpaul Date: Thu, 11 Jun 2026 11:43:30 +0200 Subject: [PATCH 4/4] Fix requiredPlugins --- BeamAdapter_test/BeamInterpolation_test.cpp | 2 +- .../forcefield/AdaptiveBeamForceFieldAndMassTest.cpp | 4 ++-- BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp | 4 ++-- examples/3instruments.scn | 2 +- examples/3instruments_collis.scn | 2 +- examples/AdaptiveBeamController.scn | 2 +- examples/AdaptiveBeamMapping.scn | 2 +- examples/SingleBeam.scn | 2 +- examples/SingleBeamDeployment.scn | 2 +- examples/SingleBeamDeploymentCollision.scn | 2 +- examples/Tool_from_loader.scn | 2 +- examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py | 2 +- examples/python3/SingleBeam.py | 2 +- examples/python3/SingleBeamDeployment.py | 2 +- examples/python3/SingleBeamDeploymentCollision.py | 2 +- .../python3/component/BeamProjectionDifferenceMultiMapping.py | 2 +- 16 files changed, 18 insertions(+), 18 deletions(-) diff --git a/BeamAdapter_test/BeamInterpolation_test.cpp b/BeamAdapter_test/BeamInterpolation_test.cpp index 1217a35dc..01025c9e5 100644 --- a/BeamAdapter_test/BeamInterpolation_test.cpp +++ b/BeamAdapter_test/BeamInterpolation_test.cpp @@ -78,7 +78,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest, string scene = "" "" - " " + " " " " " " " " diff --git a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp index 1fa8d5d69..79a7ea82d 100644 --- a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp +++ b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp @@ -48,7 +48,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT string scene = "" "" - " " + " " " " " " " " @@ -87,7 +87,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT string scene = "" "" - " " + " " " " " " " " diff --git a/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp b/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp index 2b715492a..d0dca5a0b 100644 --- a/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp +++ b/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp @@ -118,7 +118,7 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng const int Nout=2; // WARNING this number has to be changed to test with more than one beam !! const int Nin=3; - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); + sofa::simpleapi::importPlugin("Sofa.Component.IntegrationSchemes.Backward"); sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); string scene = @@ -191,7 +191,7 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng string scene = "" "" - " " + " " " " " " " " diff --git a/examples/3instruments.scn b/examples/3instruments.scn index 1094a7438..6f653dae6 100644 --- a/examples/3instruments.scn +++ b/examples/3instruments.scn @@ -5,7 +5,7 @@ - + diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn index becaad416..d4e5080ef 100644 --- a/examples/3instruments_collis.scn +++ b/examples/3instruments_collis.scn @@ -13,7 +13,7 @@ - + diff --git a/examples/AdaptiveBeamController.scn b/examples/AdaptiveBeamController.scn index 0b320270d..bcd7fadef 100644 --- a/examples/AdaptiveBeamController.scn +++ b/examples/AdaptiveBeamController.scn @@ -2,7 +2,7 @@ - + diff --git a/examples/AdaptiveBeamMapping.scn b/examples/AdaptiveBeamMapping.scn index 75feea277..689bf6d56 100644 --- a/examples/AdaptiveBeamMapping.scn +++ b/examples/AdaptiveBeamMapping.scn @@ -3,7 +3,7 @@ - + diff --git a/examples/SingleBeam.scn b/examples/SingleBeam.scn index aed28f3f7..2b398da03 100644 --- a/examples/SingleBeam.scn +++ b/examples/SingleBeam.scn @@ -3,7 +3,7 @@ - + diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn index 51dea03d6..bf521270a 100644 --- a/examples/SingleBeamDeployment.scn +++ b/examples/SingleBeamDeployment.scn @@ -3,7 +3,7 @@ - + diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn index de38358b5..8cf2c4864 100644 --- a/examples/SingleBeamDeploymentCollision.scn +++ b/examples/SingleBeamDeploymentCollision.scn @@ -11,7 +11,7 @@ - + diff --git a/examples/Tool_from_loader.scn b/examples/Tool_from_loader.scn index 709f856f1..e8c090903 100644 --- a/examples/Tool_from_loader.scn +++ b/examples/Tool_from_loader.scn @@ -9,7 +9,7 @@ - + diff --git a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py index ce403a162..362c3e824 100644 --- a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py +++ b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py @@ -8,7 +8,7 @@ def createScene(rootNode): rootNode.addObject('RequiredPlugin',name='BeamAdapter', pluginName='BeamAdapter ') rootNode.addObject('RequiredPlugin',name='SofaPython3', pluginName='SofaPython3') - rootNode.addObject('RequiredPlugin',name='SOFA Modules', pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Container.Grid Sofa.Component.Mapping.Linear Sofa.Component.Topology.Mapping Sofa.Component.StateContainer Sofa.Component.Visual Sofa.GL.Component.Rendering3D') + rootNode.addObject('RequiredPlugin',name='SOFA Modules', pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Container.Grid Sofa.Component.Mapping.Linear Sofa.Component.Topology.Mapping Sofa.Component.StateContainer Sofa.Component.Visual Sofa.GL.Component.Rendering3D') rootNode.findData('dt').value=0.01 rootNode.findData('gravity').value=[0,0,0] rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showInteractionForceFields hideWireframe') diff --git a/examples/python3/SingleBeam.py b/examples/python3/SingleBeam.py index 477645877..d76d897af 100644 --- a/examples/python3/SingleBeam.py +++ b/examples/python3/SingleBeam.py @@ -4,7 +4,7 @@ def createScene(rootNode): # rootNode - rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual') + rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual') rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields') rootNode.addObject('DefaultAnimationLoop') rootNode.addObject('DefaultVisualManagerLoop') diff --git a/examples/python3/SingleBeamDeployment.py b/examples/python3/SingleBeamDeployment.py index 571bfd41c..dd7912bf7 100644 --- a/examples/python3/SingleBeamDeployment.py +++ b/examples/python3/SingleBeamDeployment.py @@ -3,7 +3,7 @@ def createScene(rootNode): - rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic') + rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic') rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings showForceFields') rootNode.addObject('DefaultAnimationLoop') diff --git a/examples/python3/SingleBeamDeploymentCollision.py b/examples/python3/SingleBeamDeploymentCollision.py index 897b74486..9acb923cc 100644 --- a/examples/python3/SingleBeamDeploymentCollision.py +++ b/examples/python3/SingleBeamDeploymentCollision.py @@ -3,7 +3,7 @@ def createScene(rootNode): - rootNode.addObject('RequiredPlugin', name="plug1", pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic') + rootNode.addObject('RequiredPlugin', name="plug1", pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic') rootNode.addObject('RequiredPlugin', name="plug2", pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.IO.Mesh') rootNode.addObject('VisualStyle', displayFlags='hideVisualModels hideBehaviorModels showCollisionModels hideMappings showInteractionForceFields') diff --git a/examples/python3/component/BeamProjectionDifferenceMultiMapping.py b/examples/python3/component/BeamProjectionDifferenceMultiMapping.py index 46f515544..e8b4fb4ed 100644 --- a/examples/python3/component/BeamProjectionDifferenceMultiMapping.py +++ b/examples/python3/component/BeamProjectionDifferenceMultiMapping.py @@ -7,7 +7,7 @@ def createScene(rootnode): settings.addObject('RequiredPlugin', pluginName='Sofa.Component.Constraint.Projective') # Needed to use components [FixedConstraint] settings.addObject('RequiredPlugin', pluginName='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] settings.addObject('RequiredPlugin', pluginName='Sofa.Component.Mass') # Needed to use components [UniformMass] - settings.addObject('RequiredPlugin', pluginName='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitIntegrationScheme] + settings.addObject('RequiredPlugin', pluginName='Sofa.Component.IntegrationSchemes.Backward') # Needed to use components [EulerImplicitIntegrationScheme] settings.addObject('RequiredPlugin', pluginName='Sofa.Component.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField] settings.addObject('RequiredPlugin', pluginName='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject] settings.addObject('RequiredPlugin', pluginName='Sofa.Component.Topology.Container.Dynamic') # Needed to use components [EdgeSetTopologyContainer,PointSetTopologyContainer]