[examples] cleaning references to GenericConstraintSolver (comments) (#341)

EulalieCoevoet · web-flow · commit 2f447673c6ed · 2025-11-17T08:42:41.000+01:00
diff --git a/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py b/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
                             "Sofa.Component.Collision.Response.Contact",  # Needed to use components RuleBasedContactManager
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/constraint/CableConstraint/Finger.py b/examples/component/constraint/CableConstraint/Finger.py
@@ -11,7 +11,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', pluginName=[
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -34,7 +34,7 @@ def createScene(rootNode):
     # when manipulating the robots by specifying their effector's position instead of by direct control
     #  of the actuator's parameters.
     # rootNode.addObject('QPInverseProblemSolver', printLog=False)
-    # Otherwise use a GenericConstraintSolver
+    # Otherwise use a ProjectedGaussSeidelConstraintSolver
     rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.gravity = [0, -9810, 0]
diff --git a/examples/component/constraint/CableConstraint/FingerWithSTLIB.py b/examples/component/constraint/CableConstraint/FingerWithSTLIB.py
@@ -19,7 +19,7 @@ def createScene(rootNode):
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/constraint/JointConstraint/JointConstraint.py b/examples/component/constraint/JointConstraint/JointConstraint.py
@@ -10,7 +10,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='ArticulatedSystemPlugin')  # Needed to use components [ArticulatedHierarchyContainer,ArticulatedSystemMapping,Articulation,ArticulationCenter]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop')  # Needed to use components [FreeMotionAnimationLoop]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [UncoupledConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [GenericConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective')  # Needed to use components [FixedProjectiveConstraint]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Generate')  # Needed to use components [GenerateRigidMass]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh')  # Needed to use components [MeshSTLLoader]
diff --git a/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py b/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py
@@ -13,7 +13,7 @@ def createScene(rootNode):
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshOBJLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/constraint/SurfacePressureConstraint/Springy.py b/examples/component/constraint/SurfacePressureConstraint/Springy.py
@@ -14,7 +14,7 @@ def createScene(rootNode):
         "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
         "Sofa.Component.Constraint.Lagrangian.Correction",
         # Needed to use components LinearSolverConstraintCorrection
-        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
         "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
         "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
         "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py b/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
@@ -8,7 +8,7 @@ def createScene(rootNode):
 
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [LinearSolverConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [ProjectedGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshOBJLoader,MeshVTKLoader]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [EigenSimplicialLDLT]
diff --git a/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py b/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
@@ -18,7 +18,7 @@ def createScene(rootNode):
                                 "Sofa.Component.Collision.Response.Contact",  # Needed to use components CollisionResponse
                                 "Sofa.Component.Constraint.Lagrangian.Correction",
                                 # Needed to use components LinearSolverConstraintCorrection
-                                "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                                "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                                 "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                 "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                 "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py b/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py
@@ -9,7 +9,7 @@ def createScene(rootNode):
                                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                                             "Sofa.Component.Constraint.Lagrangian.Correction",
                                             # Needed to use components LinearSolverConstraintCorrection
-                                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/controller/CommunicationController/SimulationInverse_Sender.py b/examples/component/controller/CommunicationController/SimulationInverse_Sender.py
@@ -12,7 +12,7 @@ def createScene(rootNode):
                                         "Sofa.Component.Collision.Geometry",  # Needed to use components SphereCollisionModel
                                         "Sofa.Component.Constraint.Lagrangian.Correction",
                                         # Needed to use components LinearSolverConstraintCorrection, UncoupledConstraintCorrection
-                                        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                                        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                                         "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                         "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                         "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
diff --git a/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py b/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
                                                      "Sofa.Component.Constraint.Lagrangian.Correction",
                                                      # Needed to use components LinearSolverConstraintCorrection, UncoupledConstraintCorrection
                                                      "Sofa.Component.Constraint.Lagrangian.Solver",
-                                                     # Needed to use components GenericConstraintSolver
+                                                     # Needed to use components ProjectedGaussSeidelConstraintSolver
                                                      "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                                      "Sofa.Component.IO.Mesh",
                                                      # Needed to use components MeshOBJLoader, MeshSTLLoader, MeshVTKLoader
diff --git a/examples/tutorials/CircularRobot/circularrobot.py b/examples/tutorials/CircularRobot/circularrobot.py
@@ -122,7 +122,7 @@ def createScene(rootNode):
                                                      "Sofa.Component.Constraint.Lagrangian.Correction",
                                                      # Needed to use components GenericConstraintCorrection, UncoupledConstraintCorrection
                                                      "Sofa.Component.Constraint.Lagrangian.Solver",
-                                                     # Needed to use components GenericConstraintSolver
+                                                     # Needed to use components ProjectedGaussSeidelConstraintSolver
                                                      "Sofa.Component.IO.Mesh",
                                                      # Needed to use components MeshOBJLoader, MeshSTLLoader, MeshVTKLoader
                                                      "Sofa.Component.LinearSolver.Direct",
diff --git a/examples/tutorials/DiamondRobot/DiamondRobot.py b/examples/tutorials/DiamondRobot/DiamondRobot.py
@@ -20,7 +20,7 @@ def createScene(rootNode):
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                             "Sofa.Component.Constraint.Projective",  # Needed to use components FixedProjectiveConstraint
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshVTKLoader
diff --git a/examples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py b/examples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
@@ -8,7 +8,7 @@ def createScene(rootNode):
 
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop')  # Needed to use components [FreeMotionAnimationLoop]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [LinearSolverConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [GenericConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select')  # Needed to use components [BoxROI]  
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh')  # Needed to use components [MeshSTLLoader,MeshVTKLoader]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
diff --git a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
@@ -24,7 +24,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Geometry')  # Needed to use components [LineCollisionModel,PointCollisionModel,TriangleCollisionModel]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Response.Contact')  # Needed to use components [CollisionResponse]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [GenericConstraintCorrection,UncoupledConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [GenericConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select')  # Needed to use components [BoxROI]  
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh')  # Needed to use components [MeshOBJLoader,MeshSTLLoader,MeshVTKLoader]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
diff --git a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py
@@ -23,7 +23,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Geometry')  # Needed to use components [LineCollisionModel,PointCollisionModel,TriangleCollisionModel]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Response.Contact')  # Needed to use components [RuleBasedContactManager]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [LinearSolverConstraintCorrection,UncoupledConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [GenericConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select')  # Needed to use components [BoxROI]  
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Iterative')  # Needed to use components [CGLinearSolver]
diff --git a/examples/tutorials/SoftArmGripper/header.py b/examples/tutorials/SoftArmGripper/header.py
@@ -12,7 +12,7 @@ def addHeader(node):
                             "Sofa.Component.Collision.Detection.Intersection",  # Needed to use components LocalMinDistance
                             "Sofa.Component.Collision.Response.Contact",  # Needed to use components CollisionResponse
                             "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
                             "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
diff --git a/examples/tutorials/Tripod/details/s90servo.py b/examples/tutorials/Tripod/details/s90servo.py
@@ -109,7 +109,7 @@ def createScene(rootNode):
         # ArticulatedSystemMapping,Articulation,ArticulationCenter]
         'Sofa.Component.AnimationLoop',  # Needed to use components [FreeMotionAnimationLoop]
         'Sofa.Component.Constraint.Lagrangian.Correction',  # Needed to use components [GenericConstraintCorrection]
-        'Sofa.Component.Constraint.Lagrangian.Solver',  # Needed to use components [GenericConstraintSolver]
+        'Sofa.Component.Constraint.Lagrangian.Solver',  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
         'Sofa.Component.Constraint.Projective',  # Needed to use components [FixedProjectiveConstraint]
         'Sofa.Component.IO.Mesh',  # Needed to use components [MeshSTLLoader]
         'Sofa.Component.LinearSolver.Direct',  # Needed to use components [SparseLDLSolver]
diff --git a/examples/tutorials/Tripod/details/step4.py b/examples/tutorials/Tripod/details/step4.py
@@ -20,7 +20,7 @@ def createScene(rootNode):
     pluginList = ['ArticulatedSystemPlugin',  # Needed to use components [ArticulatedHierarchyContainer]
                   'Sofa.Component.AnimationLoop',  # Needed to use components [FreeMotionAnimationLoop]
                   'Sofa.Component.Constraint.Lagrangian.Correction',  # Needed to use components [GenericConstraintCorrection]
-                  'Sofa.Component.Constraint.Lagrangian.Solver',  # Needed to use components [GenericConstraintSolver]
+                  'Sofa.Component.Constraint.Lagrangian.Solver',  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
                   'Sofa.Component.Constraint.Projective',  # Needed to use components [FixedProjectiveConstraint]
                   'Sofa.Component.Engine.Select',  # Needed to use components [BoxROI,SphereROI]
                   'Sofa.Component.LinearSolver.Direct',  # Needed to use components [SparseLDLSolver]
diff --git a/examples/tutorials/Tripod/details/tripod.py b/examples/tutorials/Tripod/details/tripod.py
@@ -114,7 +114,7 @@ def createScene(rootNode):
         # ArticulatedSystemMapping,Articulation,ArticulationCenter]
         'Sofa.Component.AnimationLoop',  # Needed to use components [FreeMotionAnimationLoop]
         'Sofa.Component.Constraint.Lagrangian.Correction',  # Needed to use components [GenericConstraintCorrection]
-        'Sofa.Component.Constraint.Lagrangian.Solver',  # Needed to use components [GenericConstraintSolver]
+        'Sofa.Component.Constraint.Lagrangian.Solver',  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
         'Sofa.Component.Constraint.Projective',  # Needed to use components [FixedProjectiveConstraint]
         'Sofa.Component.IO.Mesh',  # Needed to use components [MeshSTLLoader]
         'Sofa.Component.LinearSolver.Direct',  # Needed to use components [SparseLDLSolver]
diff --git a/examples/tutorials/Tripod/myproject/s90servo.py b/examples/tutorials/Tripod/myproject/s90servo.py
diff --git a/examples/tutorials/Tripod/myproject/step4.py b/examples/tutorials/Tripod/myproject/step4.py
diff --git a/examples/tutorials/Tripod/myproject/tripod.py b/examples/tutorials/Tripod/myproject/tripod.py
diff --git a/examples/tutorials/Trunk/trunk.py b/examples/tutorials/Trunk/trunk.py
diff --git a/python3/softrobots/parts/bunny/Bunny.py b/python3/softrobots/parts/bunny/Bunny.py
diff --git a/python3/softrobots/parts/finger/finger.py b/python3/softrobots/parts/finger/finger.py
diff --git a/tests/component/constraint/scenes/SurfacePressureConstraint.scn b/tests/component/constraint/scenes/SurfacePressureConstraint.scn
