Apply changes from SOFA PR 5666 regarding GenericConstraintSolver (#338)

Author: bakpaul

examples/component/constraint/CableConstraint/CableSmoothActuation.py

@@ -35,7 +35,7 @@ def createScene(rootNode):
     rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', printLog='0')
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', printLog='0')
 
     ################################################################################################################
     ################################################### Bunny ######################################################

examples/component/constraint/CableConstraint/Finger.py

@@ -35,7 +35,7 @@ def createScene(rootNode):
     #  of the actuator's parameters.
     # rootNode.addObject('QPInverseProblemSolver', printLog=False)
     # Otherwise use a GenericConstraintSolver
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.gravity = [0, -9810, 0]
     rootNode.dt = 0.01

examples/component/constraint/CableConstraint/FingerWithSTLIB.py

@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     rootNode.addObject("FreeMotionAnimationLoop")
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject("GenericConstraintSolver", maxIterations=1000, tolerance=0.001)
+    rootNode.addObject("ProjectedGaussSeidelConstraintSolver", maxIterations=1000, tolerance=0.001)
 
     finger = ElasticMaterialObject(name="finger",
                                    volumeMeshFileName="mesh/finger.vtk",

examples/component/constraint/JointConstraint/JointConstraint.py

@@ -28,7 +28,7 @@ def createScene(rootNode):
     rootNode.gravity = [0., -9810., 0.]
     rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels')
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-4)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-4)
 
     # Simulation node
     simulation = rootNode.addChild('Simulation')

examples/component/constraint/PositionConstraint/PositionConstraint.py

@@ -3,7 +3,7 @@ def createScene(rootnode):
     rootnode.addObject('RequiredPlugin', name='SoftRobots')
 
     rootnode.addObject('FreeMotionAnimationLoop')
-    rootnode.addObject('GenericConstraintSolver', maxIterations=1e4, tolerance=1e-5, printLog=True)
+    rootnode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1e4, tolerance=1e-5, printLog=True)
     rootnode.gravity = [0, -9.81, 0]
     rootnode.addObject('VisualStyle', displayFlags='showForceFields')
 

examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py

@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
 
     Bunny(rootNode, name='BunnyPressure', controlType='pressure', initialValue=2)
     Bunny(rootNode, translation=[15, 0, 0], controlType='volumeGrowth', name='BunnyVolume', initialValue=40)

examples/component/constraint/SurfacePressureConstraint/Springy.py

@@ -33,7 +33,7 @@ def createScene(rootNode):
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
 
-    rootNode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-3)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.findData('gravity').value = [0, 0, -981.0]

examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py

@@ -32,7 +32,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny
     bunny = rootNode.addChild('bunny')

examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py

@@ -35,7 +35,7 @@ def createScene(rootNode):
     rootNode.addObject('VisualStyle', displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe")
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-3)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     rootNode.addObject('CollisionPipeline')
     rootNode.addObject('BruteForceBroadPhase', name="N2")

examples/component/controller/CommunicationController/SimulationDirect_Receiver.py

@@ -26,7 +26,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-14)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-14)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01