Apply SOFA PR 4750 changes

GmshTutorial/SurfacePressureConstraint_Accordion.py

@@ -25,7 +25,7 @@ def createScene(rootNode):
                 bunny.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3,  youngModulus=18000)
 
                 bunny.addObject('BoxROI', name='boxROI', box=[-15, -7, -15,  15, -3, 15], drawBoxes=True, position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
-                bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
+                bunny.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12)
 
                 bunny.addObject('SparseLDLSolver', name='preconditioner')
                 bunny.addObject('LinearSolverConstraintCorrection', solverName='preconditioner')

Models/CabledTrunk/CabledTrunk.py

@@ -169,7 +169,7 @@ def createScene(rootNode, config):
     # Fix base of the Trunk
     trunk.addObject('BoxROI', name='boxROI', box=[[-20*config.mm, -20*config.mm, -config.d_ext-(config.d_in/2)], [20*config.mm, 20*config.mm, 0]], drawBoxes=True)
     #trunk.addObject('PartialFixedConstraint', fixedDirections=[1, 1, 1], indices='@boxROI.indices')
-    trunk.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e10) 
+    trunk.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e10)
 
 
     ##################
@@ -334,7 +334,7 @@ def createScene(rootNode, config):
             corridor = simulation.addChild("Corridor_" + str(i))        
             corridor.addObject('MechanicalObject', template="Rigid3", scale="0.001", dx="0.0", dy="0.0", dz="0.0")
             #corridor.addObject("UniformMass", totalMass = 100.0)
-            corridor.addObject('RestShapeSpringsForceField', stiffness=1e10)
+            corridor.addObject('FixedWeakConstraint', stiffness=1e10, fixAll=True)
 
 
             contacts_corridor = corridor.addChild("CollisionModel")

Models/SensorFinger/SensorFinger.py

@@ -134,7 +134,7 @@ def createScene(rootNode, config):
     model = rootNode.addChild('model')
     model.addObject('EulerImplicitSolver', name='odesolver', firstOrder=0, rayleighMass=0.1,  rayleighStiffness=0.1)
     model.addObject('SparseLDLSolver', name='precond', template = "CompressedRowSparseMatrixd")
-    model.addObject('GenericConstraintCorrection')
+    model.addObject('GenericConstraintCorrection', solverName="precond")
 
     ##################
     ### Load model ###
@@ -159,7 +159,7 @@ def createScene(rootNode, config):
     BoxMargin = 3
     BoxCoords = [-(config.Thickness/2+BoxMargin), -BoxMargin, BoxMargin, config.Thickness/2+BoxMargin,config.Height+2*BoxMargin, -BoxMargin]
     model.addObject('BoxROI', name='boxROI', box=BoxCoords, drawBoxes=True)
-    model.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e10)               
+    model.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e10)
 
     FollowingMONode = model.addChild('FollowingMONode')                
     FollowingMONode.addObject("MechanicalObject", name="FollowingMO", template="Vec3d", position=[0.0, 0, -3.0*config.Length], showObject=True, showObjectScale=20, showColor="0 0 1") 

Models/SensorFinger4Cavities/SensorFinger4Cavities.py

@@ -193,7 +193,7 @@ def createScene(rootNode, config):
     BoxMargin = 3
     BoxCoords = [-(config.Thickness/2+BoxMargin), -BoxMargin, BoxMargin, config.Thickness/2+BoxMargin,config.Height+2*BoxMargin, -BoxMargin]
     model.addObject('BoxROI', name='boxROI', box=BoxCoords, drawBoxes=True)
-    model.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e10)               
+    model.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e10)
 
     FollowingMONode = model.addChild('FollowingMONode')                
     FollowingMONode.addObject("MechanicalObject", name="FollowingMO", template="Vec3d", position=[0.0, 0, -3.0*config.Length], showObject=True, showObjectScale=20, showColor="0 0 1") 

Models/TripodFinger/Components/fixing_box.py

@@ -26,6 +26,6 @@ def __init__(self, parent, target, name='FixingBox',
         c = self.node.addChild('Constraint')
         target.addChild(c)
 
-        c.addObject('RestShapeSpringsForceField',
-                       points=self.node.BoxROI.getData('indices').getLinkPath(),
+        c.addObject('FixedWeakConstraint',
+                       indices=self.node.BoxROI.getData('indices').getLinkPath(),
                        stiffness=1e12)

Models/TripodFinger/Components/s90_servo.py

@@ -75,7 +75,7 @@ def init(self):
         angle = self.addChild('Articulation')
         angle.addObject('MechanicalObject', name='dofs', template='Vec1', position=[[self.getData('angleIn')]],
                         rest_position=self.getData('angleIn').getLinkPath())
-        angle.addObject('RestShapeSpringsForceField', points=0, stiffness=1e9)
+        angle.addObject('FixedWeakConstraint', indices=0, stiffness=1e9)
         angle.addObject('UniformMass', totalMass=0.01)
 
         servoWheel = angle.addChild('ServoWheel')

Models/TripodFinger/TripodFinger.py

@@ -419,7 +419,7 @@ def onAnimateBeginEvent(self, dt):
 
     def evaluate_torque(self):
         # As the torque is modeled as a Spring, we compute the torque as k * (theta - theta_0)
-        k = self.actuator.ServoMotor.Articulation.RestShapeSpringsForceField.stiffness.value
+        k = self.actuator.ServoMotor.Articulation.FixedWeakConstraint.stiffness.value
         theta_0 = self.actuator.ServoMotor.Articulation.dofs.rest_position.value 
         theta = self.actuator.ServoMotor.Articulation.dofs.position.value
         return k * (theta - theta_0)