Sofa on external app

[Bellaedris]

Hi.

I am trying to build SOFA to use it on an external application. I built SOFA from source without any issue.
In my external app, I have setup a very simple CMakeLists and copied the exemple app from https://sofa-framework.github.io/doc/programming-with-sofa/create-your-scene-in-cpp/ :

cmake_minimum_required(VERSION 3.22)
project(SimpleApp)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
list(APPEND CMAKE_PREFIX_PATH "/path/to/sofa/install")

find_package(Sofa.Framework REQUIRED)
find_package(Sofa.GUI REQUIRED)
find_package(Sofa.Component REQUIRED)
find_package(Sofa.GL REQUIRED)

file(GLOB_RECURSE SOURCE_FILES "src/**.cpp")

if(APPLE AND RUNSOFA_INSTALL_AS_BUNDLE)
    add_executable(${PROJECT_NAME} MACOSX_BUNDLE ${RC_FILES} ${SOURCE_FILES} )
else()
    add_executable(${PROJECT_NAME} ${RC_FILES} ${SOURCE_FILES}
            src/main.cpp)
endif()

target_link_libraries(${PROJECT_NAME} Sofa.Framework Sofa.GUI Sofa.Component Sofa.GL)

#include <sofa/core/IntrusiveObject.h>
#include <sofa/Modules.h>
#include <sofa/simulation/Node.h>
#include <sofa/simulation/common/init.h>
#include <sofa/simulation/graph/init.h>
#include <sofa/simpleapi/SimpleApi.h>
#include <sofa/gui/init.h>
#include <sofa/gui/common/BaseGUI.h>
#include <sofa/gui/common/GUIManager.h>
#include <sofa/helper/system/PluginManager.h>
#include <sofa/helper/Utils.h>
#include <vector>
#include <string>

sofa::simulation::Node::SPtr createScene(const sofa::simpleapi::Simulation::SPtr simu)
{
    const sofa::simulation::Node::SPtr root = sofa::simpleapi::createRootNode(simu, "root") ;

    root->setGravity( sofa::type::Vec3(0,0,-9.81) );
    root->setAnimate(false);
    root->setDt(0.005);

    sofa::simpleapi::importPlugin(Sofa.Component.AnimationLoop);
    sofa::simpleapi::importPlugin(Sofa.Component.AnimationLoop);
    sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Algorithm);
    sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Intersection);
    sofa::simpleapi::importPlugin(Sofa.Component.Collision.Geometry);
    sofa::simpleapi::importPlugin(Sofa.Component.Collision.Response.Contact);
    sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Lagrangian.Correction);
    sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Lagrangian.Solver);
    sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Direct);
    sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative);
    sofa::simpleapi::importPlugin(Sofa.Component.Mapping.Linear);
    sofa::simpleapi::importPlugin(Sofa.Component.Mass);
    sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward);
    sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic);
    sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
    sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic);
    sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid);
    sofa::simpleapi::importPlugin(Sofa.Component.Topology.Mapping);
    sofa::simpleapi::importPlugin(Sofa.Component.Visual);
    sofa::simpleapi::importPlugin(Sofa.GL.Component.Rendering3D);
    sofa::simpleapi::importPlugin(Sofa.GUI.Component);
    sofa::simpleapi::importPlugin(Sofa.Component.IO.Mesh);
    sofa::simpleapi::importPlugin("MultiThreading");

    sofa::simpleapi::createObject(root, "VisualStyle", {{"displayFlags", "showVisual"}});
    sofa::simpleapi::createObject(root, "ConstraintAttachButtonSetting");
    sofa::simpleapi::createObject(root, "FreeMotionAnimationLoop");
    sofa::simpleapi::createObject(root, "BlockGaussSeidelConstraintSolver",{{"maxIterations","50"}, {"tolerance","1.0e-6"}});

    sofa::simpleapi::createObject(root, "CollisionPipeline",{{"name","Pipeline"}});
    sofa::simpleapi::createObject(root, "ParallelBruteForceBroadPhase",{{"name","BroadPhase"}});
    sofa::simpleapi::createObject(root, "ParallelBVHNarrowPhase",{{"name","NarrowPhase"}});
    sofa::simpleapi::createObject(root, "CollisionResponse",{{"name","ContactManager"},
                                                              {"response","FrictionContactConstraint"},
                                                              {"responseParams","mu=0.3"}});
    sofa::simpleapi::createObject(root, "NewProximityIntersection",{{"name","Intersection"},
                                                                     {"alarmDistance","0.02"},
                                                                     {"contactDistance","0.002"}});

    //Simulated Topology creation node
    const sofa::simulation::Node::SPtr BeamDomainFromGridTopology = sofa::simpleapi::createChild(root,"BeamDomainFromGridTopology");
    sofa::simpleapi::createObject(BeamDomainFromGridTopology,"RegularGridTopology", {{ "name","HexaTop"}, {"n","15 3 6"}, {"min","0 0.02 0"}, {"max","0.5 0.08 0.22"}});
    sofa::simpleapi::createObject(BeamDomainFromGridTopology,"TetrahedronSetTopologyContainer", {{ "name","Container"}, {"position","@HexaTop.position"}});
    sofa::simpleapi::createObject(BeamDomainFromGridTopology,"TetrahedronSetTopologyModifier", {{ "name","Modifier"}});
    sofa::simpleapi::createObject(BeamDomainFromGridTopology,"Hexa2TetraTopologicalMapping", {{"input","@HexaTop"}, {"output","@Container"}, {"swapping","true"}});

    //Simulated node
    const sofa::simulation::Node::SPtr FEMechanicalModel = sofa::simpleapi::createChild(root,"FE-MechanicalModel");
    sofa::simpleapi::createObject(FEMechanicalModel, "EulerImplicitSolver");
    sofa::simpleapi::createObject(FEMechanicalModel, "SparseLDLSolver", {{"name","ldl"}, {"template","CompressedRowSparseMatrixMat3x3"}, {"parallelInverseProduct","true"}} );
    sofa::simpleapi::createObject(FEMechanicalModel, "TetrahedronSetTopologyContainer", {{"name","Container"},  {"position","@../BeamDomainFromGridTopology/HexaTop.position"}, {"tetrahedra","@../BeamDomainFromGridTopology/Container.tetrahedra"}});
    sofa::simpleapi::createObject(FEMechanicalModel, "TetrahedronSetTopologyModifier", {{"name","Modifier"}});
    sofa::simpleapi::createObject(FEMechanicalModel, "MechanicalObject", {{"name","mstate"}, {"template","Vec3d"}, {"src","@Container"}});
    sofa::simpleapi::createObject(FEMechanicalModel, "TetrahedronFEMForceField", {{"name","forceField"}, {"listening","true"}, {"youngModulus","2e4"}, {"poissonRatio","0.45"}, {"method","large"}});
    sofa::simpleapi::createObject(FEMechanicalModel, "MeshMatrixMass", {{"totalMass","1.2"}});

    const sofa::simulation::Node::SPtr FEMechanicalModel_Surface = sofa::simpleapi::createChild(FEMechanicalModel,"Surface");
    sofa::simpleapi::createObject(FEMechanicalModel_Surface, "TriangleSetTopologyContainer", {{"name","Container"}});
    sofa::simpleapi::createObject(FEMechanicalModel_Surface, "TriangleSetTopologyModifier", {{"name","Modifier"}});
    sofa::simpleapi::createObject(FEMechanicalModel_Surface, "Tetra2TriangleTopologicalMapping", {{"input","@../Container"}, {"output","@Container"}, {"flipNormals","false"}});
    sofa::simpleapi::createObject(FEMechanicalModel_Surface, "MechanicalObject", {{"name","dofs"},{"rest_position","@../mstate.rest_position"}});
    sofa::simpleapi::createObject(FEMechanicalModel_Surface, "TriangleCollisionModel", {{"name","Collision"},{"proximity","0.001"}, {"color","0.94117647058824 0.93725490196078 0.89411764705882"}} );
    sofa::simpleapi::createObject(FEMechanicalModel_Surface, "IdentityMapping", {{"name","SurfaceMapping"}});

    const std::vector<std::string > visuFiles{"mesh/SofaScene/LogoVisu.obj", "mesh/SofaScene/SVisu.obj", "mesh/SofaScene/O.obj", "mesh/SofaScene/FVisu.obj", "mesh/SofaScene/AVisu.obj"};
    const std::vector<std::string > visuColor{"0.7 .35 0 1.0", "0.7 0.7 0.7 1", "0.7 0.7 0.7 1", "0.7 0.7 0.7 1", "0.7 0.7 0.7 1"};
    const std::vector<std::string > nodeNames{"VisuLogo", "VisuS", "VisuO", "VisuF", "VisuA"};
    for(unsigned i=0; i<visuFiles.size(); ++i)
    {
        const sofa::simulation::Node::SPtr visuNode = sofa::simpleapi::createChild(FEMechanicalModel,nodeNames[i]);
        sofa::simpleapi::createObject(visuNode, "MeshOBJLoader", {{"name","SurfaceLoader"}, {"filename",visuFiles[i]}, {"scale3d","0.015 0.015 0.015"}, {"translation","0 0.05 0"}, {"rotation","180 0 0"}});
        sofa::simpleapi::createObject(visuNode, "OglModel", {{"name","VisualModel"}, {"color",visuColor[i]}, {"position","@SurfaceLoader.position"}, {"triangles","@SurfaceLoader.triangles"}} );
        sofa::simpleapi::createObject(visuNode, "BarycentricMapping", {{"name","MappingVisu"}, {"input","@../mstate"}, {"output","@VisualModel"}, {"isMechanical","false"}} );
    }

    sofa::simpleapi::createObject(FEMechanicalModel, "LinearSolverConstraintCorrection", {{"linearSolver","@ldl"}});

    const sofa::simulation::Node::SPtr Floor = sofa::simpleapi::createChild(root,"Floor", {{"tags","NoBBox"}});
    sofa::simpleapi::createObject(Floor, "VisualStyle", {{"displayFlags","showCollisionModels"}});
    sofa::simpleapi::createObject(Floor, "TriangleSetTopologyContainer", {{"name","FloorTopo"},
                                                                          {"position","0.2 0 -0.5  0.2 0.1 -0.5  0.3 0.1 -0.5  0.3 0 -0.5  0.2 0 -0.6  0.2 0.1 -0.6  0.3 0.1 -0.6  0.3 0 -0.6"},
                                                                          {"triangles","0 2 1  0 3 2  0 1 5  0 5 4  0 4 7  0 7 3  1 2 6  1 6 5  3 7 6  3 6 2  4 5 6  4 6 7"}} );
    sofa::simpleapi::createObject(Floor, "MechanicalObject", {{"template","Vec3"}});
    sofa::simpleapi::createObject(Floor, "TriangleCollisionModel", {{"name","FloorCM"}, {"proximity","0.001"}, {"moving","0"}, {"simulated","0"}} );
    return root;
}

int main(int /**argc**/, char** argv)
{
    sofa::simulation::common::init();
    sofa::simulation::graph::init();

    const sofa::simpleapi::Simulation::SPtr simu = sofa::simpleapi::createSimulation("DAG") ;
    const auto root = createScene(simu);

    sofa::simulation::node::initRoot(root.get());

    sofa::gui::common::BaseGUI::setConfigDirectoryPath(sofa::helper::Utils::getSofaPathPrefix() + "/config", true);
    sofa::gui::common::BaseGUI::setScreenshotDirectoryPath(sofa::helper::Utils::getSofaPathPrefix() + "/screenshots", true);

    sofa::helper::system::PluginManager::getInstance().loadPlugin("SofaImGui");
    sofa::helper::system::PluginManager::getInstance().init();
    sofa::gui::init();

    if (int err = sofa::gui::common::GUIManager::Init(argv[0],"imgui")) return err;
    if (int err=sofa::gui::common::GUIManager::createGUI(nullptr)) return err;
    sofa::gui::common::GUIManager::SetDimension(800,600);
    sofa::gui::common::GUIManager::CenterWindow();

    sofa::gui::common::GUIManager::SetScene(root);

    if (int err = sofa::gui::common::GUIManager::MainLoop(root))
        return err;

    if (root!=nullptr)
        sofa::simulation::node::unload(root);


    sofa::gui::common::GUIManager::closeGUI();
    sofa::simulation::common::cleanup();
    sofa::simulation::graph::cleanup();
    return 0;
}

CMake configuration runs just fine, compilation is okay too. However, when running the program, I get a wall of errors related to missing plugins, and I can't understand what i'm doing wrong.

The errors are:

[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.AnimationLoop"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.AnimationLoop"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Collision.Detection.Algorithm"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Collision.Detection.Intersection"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Collision.Geometry"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Collision.Response.Contact"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Constraint.Lagrangian.Correction"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Constraint.Lagrangian.Solver"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.LinearSolver.Direct"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.LinearSolver.Iterative"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Mapping.Linear"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Mass"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.ODESolver.Backward"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.SolidMechanics.FEM.Elastic"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.StateContainer"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Topology.Container.Dynamic"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Topology.Container.Grid"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Topology.Mapping"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.Visual"
[ERROR]   [PluginManager] Plugin not found: "Sofa.GL.Component.Rendering3D"
[ERROR]   [PluginManager] Plugin not found: "Sofa.GUI.Component"
[ERROR]   [PluginManager] Plugin not found: "Sofa.Component.IO.Mesh"
[ERROR]   [PluginManager] Plugin not found: "MultiThreading"
[ERROR]   [Node(root)] Component 'VisualStyle' of type 'VisualStyle' failed:  
 Object type VisualStyle<> was not created  
 The component 'VisualStyle' cannot be found in the factory.  
 This component has been MOVED from SofaBaseVisual to Sofa.Component.Visual since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Visual'/>  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'ConstraintAttachButtonSetting' of type 'ConstraintAttachButtonSetting' failed:  
 Object type ConstraintAttachButtonSetting<> was not created  
 The component 'ConstraintAttachButtonSetting' cannot be found in the factory.  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'FreeMotionAnimationLoop' of type 'FreeMotionAnimationLoop' failed:  
 Object type FreeMotionAnimationLoop<> was not created  
 The component 'FreeMotionAnimationLoop' cannot be found in the factory.  
 This component has been MOVED from SofaConstraint to Sofa.Component.AnimationLoop since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.AnimationLoop'/>  
 But the following object(s) exist:  
                       : DefaultAnimationLoop (69% match)  

[ERROR]   [Node(root)] Component 'BlockGaussSeidelConstraintSolver' of type 'BlockGaussSeidelConstraintSolver' failed:  
 Object type BlockGaussSeidelConstraintSolver<> was not created  
 The component 'BlockGaussSeidelConstraintSolver' cannot be found in the factory.  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'Pipeline' of type 'CollisionPipeline' failed:  
 Object type CollisionPipeline<> was not created  
 The component 'CollisionPipeline' cannot be found in the factory.  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'BroadPhase' of type 'ParallelBruteForceBroadPhase' failed:  
 Object type ParallelBruteForceBroadPhase<> was not created  
 The component 'ParallelBruteForceBroadPhase' cannot be found in the factory.  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'NarrowPhase' of type 'ParallelBVHNarrowPhase' failed:  
 Object type ParallelBVHNarrowPhase<> was not created  
 The component 'ParallelBVHNarrowPhase' cannot be found in the factory.  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'ContactManager' of type 'CollisionResponse' failed:  
 Object type CollisionResponse<> was not created  
 The component 'CollisionResponse' cannot be found in the factory.  
 But the following object(s) exist:  

[ERROR]   [Node(root)] Component 'Intersection' of type 'NewProximityIntersection' failed:  
 Object type NewProximityIntersection<> was not created  
 The component 'NewProximityIntersection' cannot be found in the factory.  
 This component has been MOVED from SofaBaseCollision to Sofa.Component.Collision.Detection.Intersection since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Collision.Detection.Intersection'/>  
 But the following object(s) exist:  

[ERROR]   [Node(BeamDomainFromGridTopology)] Component 'HexaTop' of type 'RegularGridTopology' failed:  
 Object type RegularGridTopology<> was not created  
 The component 'RegularGridTopology' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Grid since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Grid'/>  
 But the following object(s) exist:  

[ERROR]   [Node(BeamDomainFromGridTopology)] Component 'Container' of type 'TetrahedronSetTopologyContainer' failed:  
 Object type TetrahedronSetTopologyContainer<> was not created  
 The component 'TetrahedronSetTopologyContainer' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(BeamDomainFromGridTopology)] Component 'Modifier' of type 'TetrahedronSetTopologyModifier' failed:  
 Object type TetrahedronSetTopologyModifier<> was not created  
 The component 'TetrahedronSetTopologyModifier' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(BeamDomainFromGridTopology)] Component 'Hexa2TetraTopologicalMapping' of type 'Hexa2TetraTopologicalMapping' failed:  
 Object type Hexa2TetraTopologicalMapping<> was not created  
 The component 'Hexa2TetraTopologicalMapping' cannot be found in the factory.  
 This component has been MOVED from SofaTopologicalMapping to Sofa.Component.Topology.Mapping since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Mapping'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'EulerImplicitSolver' of type 'EulerImplicitSolver' failed:  
 Object type EulerImplicitSolver<> was not created  
 The component 'EulerImplicitSolver' cannot be found in the factory.  
 This component has been MOVED from SofaImplicitOdeSolver to Sofa.Component.ODESolver.Backward since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.ODESolver.Backward'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'ldl' of type 'SparseLDLSolver' failed:  
 Object type SparseLDLSolver<CompressedRowSparseMatrixMat3x3d> was not created  
 The component 'SparseLDLSolver' cannot be found in the factory.  
 This component has been MOVED from SofaSparseSolver to Sofa.Component.LinearSolver.Direct since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.LinearSolver.Direct'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'Container' of type 'TetrahedronSetTopologyContainer' failed:  
 Object type TetrahedronSetTopologyContainer<> was not created  
 The component 'TetrahedronSetTopologyContainer' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'Modifier' of type 'TetrahedronSetTopologyModifier' failed:  
 Object type TetrahedronSetTopologyModifier<> was not created  
 The component 'TetrahedronSetTopologyModifier' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'mstate' of type 'MechanicalObject' failed:  
 Object type MechanicalObject<Vec3d> was not created  
 The component 'MechanicalObject' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.StateContainer since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.StateContainer'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'forceField' of type 'TetrahedronFEMForceField' failed:  
 Object type TetrahedronFEMForceField<> was not created  
 The component 'TetrahedronFEMForceField' cannot be found in the factory.  
 This component has been MOVED from SofaSimpleFem to Sofa.Component.SolidMechanics.FEM.Elastic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.SolidMechanics.FEM.Elastic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'MeshMatrixMass' of type 'MeshMatrixMass' failed:  
 Object type MeshMatrixMass<> was not created  
 The component 'MeshMatrixMass' cannot be found in the factory.  
 This component has been MOVED from SofaMiscForceField to Sofa.Component.Mass since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mass'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Surface)] Component 'Container' of type 'TriangleSetTopologyContainer' failed:  
 Object type TriangleSetTopologyContainer<> was not created  
 The component 'TriangleSetTopologyContainer' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Surface)] Component 'Modifier' of type 'TriangleSetTopologyModifier' failed:  
 Object type TriangleSetTopologyModifier<> was not created  
 The component 'TriangleSetTopologyModifier' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Surface)] Component 'Tetra2TriangleTopologicalMapping' of type 'Tetra2TriangleTopologicalMapping' failed:  
 Object type Tetra2TriangleTopologicalMapping<> was not created  
 The component 'Tetra2TriangleTopologicalMapping' cannot be found in the factory.  
 This component has been MOVED from SofaTopologicalMapping to Sofa.Component.Topology.Mapping since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Mapping'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Surface)] Component 'dofs' of type 'MechanicalObject' failed:  
 Object type MechanicalObject<> was not created  
 The component 'MechanicalObject' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.StateContainer since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.StateContainer'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Surface)] Component 'Collision' of type 'TriangleCollisionModel' failed:  
 Object type TriangleCollisionModel<> was not created  
 The component 'TriangleCollisionModel' cannot be found in the factory.  
 This component has been MOVED from SofaMeshCollision to Sofa.Component.Collision.Geometry since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Collision.Geometry'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Surface)] Component 'SurfaceMapping' of type 'IdentityMapping' failed:  
 Object type IdentityMapping<> was not created  
 The component 'IdentityMapping' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.Mapping.Linear since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mapping.Linear'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuLogo)] Component 'SurfaceLoader' of type 'MeshOBJLoader' failed:  
 Object type MeshOBJLoader<> was not created  
 The component 'MeshOBJLoader' cannot be found in the factory.  
 This component has been MOVED from SofaLoader to Sofa.Component.IO.Mesh since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.IO.Mesh'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuLogo)] Component 'VisualModel' of type 'OglModel' failed:  
 Object type OglModel<> was not created  
 The component 'OglModel' cannot be found in the factory.  
 This component has been MOVED from SofaOpenglVisual to Sofa.GL.Component.Rendering3D since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.GL.Component.Rendering3D'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuLogo)] Component 'MappingVisu' of type 'BarycentricMapping' failed:  
 Object type BarycentricMapping<> was not created  
 The component 'BarycentricMapping' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.Mapping.Linear since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mapping.Linear'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuS)] Component 'SurfaceLoader' of type 'MeshOBJLoader' failed:  
 Object type MeshOBJLoader<> was not created  
 The component 'MeshOBJLoader' cannot be found in the factory.  
 This component has been MOVED from SofaLoader to Sofa.Component.IO.Mesh since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.IO.Mesh'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuS)] Component 'VisualModel' of type 'OglModel' failed:  
 Object type OglModel<> was not created  
 The component 'OglModel' cannot be found in the factory.  
 This component has been MOVED from SofaOpenglVisual to Sofa.GL.Component.Rendering3D since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.GL.Component.Rendering3D'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuS)] Component 'MappingVisu' of type 'BarycentricMapping' failed:  
 Object type BarycentricMapping<> was not created  
 The component 'BarycentricMapping' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.Mapping.Linear since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mapping.Linear'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuO)] Component 'SurfaceLoader' of type 'MeshOBJLoader' failed:  
 Object type MeshOBJLoader<> was not created  
 The component 'MeshOBJLoader' cannot be found in the factory.  
 This component has been MOVED from SofaLoader to Sofa.Component.IO.Mesh since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.IO.Mesh'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuO)] Component 'VisualModel' of type 'OglModel' failed:  
 Object type OglModel<> was not created  
 The component 'OglModel' cannot be found in the factory.  
 This component has been MOVED from SofaOpenglVisual to Sofa.GL.Component.Rendering3D since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.GL.Component.Rendering3D'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuO)] Component 'MappingVisu' of type 'BarycentricMapping' failed:  
 Object type BarycentricMapping<> was not created  
 The component 'BarycentricMapping' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.Mapping.Linear since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mapping.Linear'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuF)] Component 'SurfaceLoader' of type 'MeshOBJLoader' failed:  
 Object type MeshOBJLoader<> was not created  
 The component 'MeshOBJLoader' cannot be found in the factory.  
 This component has been MOVED from SofaLoader to Sofa.Component.IO.Mesh since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.IO.Mesh'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuF)] Component 'VisualModel' of type 'OglModel' failed:  
 Object type OglModel<> was not created  
 The component 'OglModel' cannot be found in the factory.  
 This component has been MOVED from SofaOpenglVisual to Sofa.GL.Component.Rendering3D since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.GL.Component.Rendering3D'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuF)] Component 'MappingVisu' of type 'BarycentricMapping' failed:  
 Object type BarycentricMapping<> was not created  
 The component 'BarycentricMapping' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.Mapping.Linear since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mapping.Linear'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuA)] Component 'SurfaceLoader' of type 'MeshOBJLoader' failed:  
 Object type MeshOBJLoader<> was not created  
 The component 'MeshOBJLoader' cannot be found in the factory.  
 This component has been MOVED from SofaLoader to Sofa.Component.IO.Mesh since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.IO.Mesh'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuA)] Component 'VisualModel' of type 'OglModel' failed:  
 Object type OglModel<> was not created  
 The component 'OglModel' cannot be found in the factory.  
 This component has been MOVED from SofaOpenglVisual to Sofa.GL.Component.Rendering3D since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.GL.Component.Rendering3D'/>  
 But the following object(s) exist:  

[ERROR]   [Node(VisuA)] Component 'MappingVisu' of type 'BarycentricMapping' failed:  
 Object type BarycentricMapping<> was not created  
 The component 'BarycentricMapping' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.Mapping.Linear since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Mapping.Linear'/>  
 But the following object(s) exist:  

[ERROR]   [Node(FE-MechanicalModel)] Component 'LinearSolverConstraintCorrection' of type 'LinearSolverConstraintCorrection' failed:  
 Object type LinearSolverConstraintCorrection<> was not created  
 The component 'LinearSolverConstraintCorrection' cannot be found in the factory.  
 This component has been MOVED from SofaConstraint to Sofa.Component.Constraint.Lagrangian.Correction since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Constraint.Lagrangian.Correction'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Floor)] Component 'VisualStyle' of type 'VisualStyle' failed:  
 Object type VisualStyle<> was not created  
 The component 'VisualStyle' cannot be found in the factory.  
 This component has been MOVED from SofaBaseVisual to Sofa.Component.Visual since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Visual'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Floor)] Component 'FloorTopo' of type 'TriangleSetTopologyContainer' failed:  
 Object type TriangleSetTopologyContainer<> was not created  
 The component 'TriangleSetTopologyContainer' cannot be found in the factory.  
 This component has been MOVED from SofaBaseTopology to Sofa.Component.Topology.Container.Dynamic since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Topology.Container.Dynamic'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Floor)] Component 'MechanicalObject' of type 'MechanicalObject' failed:  
 Object type MechanicalObject<Vec3d> was not created  
 The component 'MechanicalObject' cannot be found in the factory.  
 This component has been MOVED from SofaBaseMechanics to Sofa.Component.StateContainer since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.StateContainer'/>  
 But the following object(s) exist:  

[ERROR]   [Node(Floor)] Component 'FloorCM' of type 'TriangleCollisionModel' failed:  
 Object type TriangleCollisionModel<> was not created  
 The component 'TriangleCollisionModel' cannot be found in the factory.  
 This component has been MOVED from SofaMeshCollision to Sofa.Component.Collision.Geometry since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Collision.Geometry'/>  
 But the following object(s) exist:  

[ERROR]   [PluginManager] Plugin not found: "SofaImGui"
[ERROR]   [PluginManager] Plugin not found: "Sofa.GUI.Component"
[ERROR]   [GUIManager] GUI 'imgui' creation failed.