From 79dc2aed14d7a86e214b029c17383138cc2f485b Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Dec 2024 16:45:33 +0100 Subject: [PATCH 1/2] Apply data name change --- .../component/constraint/CableActuator/CableActuator.py | 2 +- .../sofapython3/component/constraint/CableActuator/Finger.py | 2 +- .../component/constraint/CableEffector/PneuNets.py | 2 +- .../component/constraint/CableEquality/CableEquality.py | 2 +- .../constraint/ForceSurfaceActuator/ForceSurfaceActuator.py | 2 +- .../component/constraint/SlidingActuator/actuatedBeam.py | 2 +- .../component/constraint/SurfacePressureActuator/PneuNets.py | 2 +- .../SurfacePressureActuator/SurfacePressureActuator.py | 2 +- .../SurfacePressureAndCableActuator.py | 2 +- .../SurfacePressureEquality/SurfacePressureEquality.py | 2 +- .../component/constraint/VolumeEffector/VolumeEffector.py | 2 +- .../constraint/YoungModulusActuator/YoungModulusActuator.py | 2 +- .../component/constraint/scenes/SurfacePressureConstraint.scn | 2 +- tests/component/solver/scenes/Finger.scn | 4 ++-- 14 files changed, 15 insertions(+), 15 deletions(-) diff --git a/examples/sofapython3/component/constraint/CableActuator/CableActuator.py b/examples/sofapython3/component/constraint/CableActuator/CableActuator.py index 0f6b00d..8a9c9f8 100644 --- a/examples/sofapython3/component/constraint/CableActuator/CableActuator.py +++ b/examples/sofapython3/component/constraint/CableActuator/CableActuator.py @@ -29,7 +29,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=18000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -6, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12) + bunny.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/constraints diff --git a/examples/sofapython3/component/constraint/CableActuator/Finger.py b/examples/sofapython3/component/constraint/CableActuator/Finger.py index 869a342..23580e0 100644 --- a/examples/sofapython3/component/constraint/CableActuator/Finger.py +++ b/examples/sofapython3/component/constraint/CableActuator/Finger.py @@ -29,7 +29,7 @@ def createScene(rootNode): finger.addObject('UniformMass', totalMass=0.075) finger.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=600) finger.addObject('BoxROI', name='ROI1', box=[-15, 0, 0, 5, 10, 15], drawBoxes=True) - finger.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12) + finger.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12) finger.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/CableEffector/PneuNets.py b/examples/sofapython3/component/constraint/CableEffector/PneuNets.py index 591b3cf..0197211 100644 --- a/examples/sofapython3/component/constraint/CableEffector/PneuNets.py +++ b/examples/sofapython3/component/constraint/CableEffector/PneuNets.py @@ -26,7 +26,7 @@ def createScene(rootNode): model.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=200) model.addObject('BoxROI', name='boxROI', box=[-5, 0, -20, 0, 30, 20], drawBoxes=True) model.addObject('BoxROI', name='boxROISubTopo', box=[-175, 22.5, -8, -19, 28, 8], drawBoxes=False) - model.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12) + model.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/CableEquality/CableEquality.py b/examples/sofapython3/component/constraint/CableEquality/CableEquality.py index 6c1c322..a952885 100644 --- a/examples/sofapython3/component/constraint/CableEquality/CableEquality.py +++ b/examples/sofapython3/component/constraint/CableEquality/CableEquality.py @@ -32,7 +32,7 @@ def createScene(rootNode): model.addObject('UniformMass', totalMass=0.1) model.addObject('TetrahedronFEMForceField', poissonRatio=Const.PoissonRation, youngModulus=Const.YoungsModulus) model.addObject('BoxROI', name='BoxROI1', box=Const.FixedBoxCoordsBack, drawBoxes=True) - model.addObject('RestShapeSpringsForceField', points='@BoxROI1.indices', stiffness=1e12) + model.addObject('RestShapeSpringsForceField', indices='@BoxROI1.indices', stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py b/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py index 6bc7813..4e392a1 100644 --- a/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py +++ b/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py @@ -53,7 +53,7 @@ def createScene(rootNode): model.addObject('UniformMass', totalMass=0.1) model.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=150) model.addObject('BoxROI', name='boxROI', box=[-10, -15, 50, 10, 15, 90], drawBoxes=True) - model.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e2) + model.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e2) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py b/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py index f9052f8..375187a 100644 --- a/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py +++ b/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py @@ -71,7 +71,7 @@ def createScene(rootNode): # Ex: if SlidingActuator simulates a single dof (e.g. translation along x), # the other dofs must be fixed using this component model.addObject('PartialFixedProjectiveConstraint', indices=0, fixedDirections=[0, 1, 1, 1, 1, 0]) - model.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1000, stiffness=1000) + model.addObject('RestShapeSpringsForceField', indices=0, angularStiffness=1000, stiffness=1000) ########################################## # Actuator # diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py index b331d6c..ebd92d1 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py +++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py @@ -43,7 +43,7 @@ def createScene(rootNode): tetrahedra=model.container.tetrahedra.linkpath) model.addObject('BoxROI', name='boxROISubTopo', box=[-175, 22.5, -8, -19, 28, 8], drawBoxes=False, position="@tetras.rest_position", tetrahedra=model.container.tetrahedra.linkpath) - model.addObject('RestShapeSpringsForceField', points=model.boxROI.indices.linkpath, stiffness=1e12) + model.addObject('RestShapeSpringsForceField', indices=model.boxROI.indices.linkpath, stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py index bbcde64..d7402a9 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py +++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py @@ -31,7 +31,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', template='Vec3', poissonRatio=0.3, youngModulus=18000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -6, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', points=bunny.boxROI.indices.linkpath, stiffness=1e12) + bunny.addObject('RestShapeSpringsForceField', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/effector diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py index 9dab45b..ce44e64 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py +++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py @@ -31,7 +31,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', template='Vec3', poissonRatio=0.3, youngModulus=18000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -6, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', points=bunny.boxROI.indices.linkpath, stiffness=1e12) + bunny.addObject('RestShapeSpringsForceField', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/effector diff --git a/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py b/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py index db9eba8..a915619 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py +++ b/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py @@ -39,7 +39,7 @@ def createScene(rootNode): model.addObject('TetrahedronFEMForceField', poissonRatio=Const.PoissonRation, youngModulus=Const.YoungsModulus) model.addObject('BoxROI', box=Const.FixedBoxCoords, drawBoxes=True) - model.addObject('RestShapeSpringsForceField', points=model.BoxROI.indices.linkpath, stiffness=1e12) + model.addObject('RestShapeSpringsForceField', indices=model.BoxROI.indices.linkpath, stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py b/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py index b579481..08d0335 100644 --- a/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py +++ b/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py @@ -23,7 +23,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', poissonRatio=0.45, youngModulus=60000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -5.5, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', points=bunny.boxROI.indices.linkpath, stiffness=1e12) + bunny.addObject('RestShapeSpringsForceField', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/effector diff --git a/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py b/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py index 7dc9b80..1a7314a 100644 --- a/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py +++ b/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py @@ -36,7 +36,7 @@ def createScene(rootNode): [-2, 2, -2, 1, 6, 1]], drawBoxes=True) bunny.addObject('ComplementaryROI', name="outROI", template="Vec3", position="@loader.position", nbSet=1, setIndices1="@boxROIFixed.indices") - bunny.addObject('RestShapeSpringsForceField', points='@outROI.indices', stiffness=1e12) + bunny.addObject('RestShapeSpringsForceField', indices='@outROI.indices', stiffness=1e12) bunny.addObject('BoxROI', name='boxROI1', box=[-4.5, 2, -5, -2.5, 6, -1], drawBoxes=True) bunny.addObject('BoxROI', name='boxROI2', box=[-2, 2, -2, 1, 6, 1], drawBoxes=True) bunny.addObject('LinearSolverConstraintCorrection', linearSolver=bunny.SparseLDLSolver.getLinkPath()) diff --git a/tests/component/constraint/scenes/SurfacePressureConstraint.scn b/tests/component/constraint/scenes/SurfacePressureConstraint.scn index 5dc048c..50dd0bc 100644 --- a/tests/component/constraint/scenes/SurfacePressureConstraint.scn +++ b/tests/component/constraint/scenes/SurfacePressureConstraint.scn @@ -24,7 +24,7 @@ - + diff --git a/tests/component/solver/scenes/Finger.scn b/tests/component/solver/scenes/Finger.scn index e4a20f4..f76220c 100644 --- a/tests/component/solver/scenes/Finger.scn +++ b/tests/component/solver/scenes/Finger.scn @@ -48,8 +48,8 @@ - - + + From d688f66d0f6171398d05e0a5da9507d20152345f Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 4 Mar 2025 17:34:44 +0100 Subject: [PATCH 2/2] Use FixedWeakConstraint when possible --- .../component/constraint/CableActuator/CableActuator.py | 2 +- .../sofapython3/component/constraint/CableActuator/Finger.py | 2 +- .../sofapython3/component/constraint/CableEffector/PneuNets.py | 2 +- .../component/constraint/CableEquality/CableEquality.py | 2 +- .../constraint/ForceSurfaceActuator/ForceSurfaceActuator.py | 2 +- .../component/constraint/SlidingActuator/actuatedBeam.py | 2 +- .../component/constraint/SurfacePressureActuator/PneuNets.py | 2 +- .../SurfacePressureActuator/SurfacePressureActuator.py | 2 +- .../SurfacePressureActuator/SurfacePressureAndCableActuator.py | 2 +- .../SurfacePressureEquality/SurfacePressureEquality.py | 2 +- .../component/constraint/VolumeEffector/VolumeEffector.py | 2 +- .../constraint/YoungModulusActuator/YoungModulusActuator.py | 2 +- 12 files changed, 12 insertions(+), 12 deletions(-) diff --git a/examples/sofapython3/component/constraint/CableActuator/CableActuator.py b/examples/sofapython3/component/constraint/CableActuator/CableActuator.py index 8a9c9f8..fd0de44 100644 --- a/examples/sofapython3/component/constraint/CableActuator/CableActuator.py +++ b/examples/sofapython3/component/constraint/CableActuator/CableActuator.py @@ -29,7 +29,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=18000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -6, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12) + bunny.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/constraints diff --git a/examples/sofapython3/component/constraint/CableActuator/Finger.py b/examples/sofapython3/component/constraint/CableActuator/Finger.py index 23580e0..e51df7e 100644 --- a/examples/sofapython3/component/constraint/CableActuator/Finger.py +++ b/examples/sofapython3/component/constraint/CableActuator/Finger.py @@ -29,7 +29,7 @@ def createScene(rootNode): finger.addObject('UniformMass', totalMass=0.075) finger.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=600) finger.addObject('BoxROI', name='ROI1', box=[-15, 0, 0, 5, 10, 15], drawBoxes=True) - finger.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12) + finger.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12) finger.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/CableEffector/PneuNets.py b/examples/sofapython3/component/constraint/CableEffector/PneuNets.py index 0197211..bffa0f9 100644 --- a/examples/sofapython3/component/constraint/CableEffector/PneuNets.py +++ b/examples/sofapython3/component/constraint/CableEffector/PneuNets.py @@ -26,7 +26,7 @@ def createScene(rootNode): model.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=200) model.addObject('BoxROI', name='boxROI', box=[-5, 0, -20, 0, 30, 20], drawBoxes=True) model.addObject('BoxROI', name='boxROISubTopo', box=[-175, 22.5, -8, -19, 28, 8], drawBoxes=False) - model.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12) + model.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/CableEquality/CableEquality.py b/examples/sofapython3/component/constraint/CableEquality/CableEquality.py index a952885..964a8c0 100644 --- a/examples/sofapython3/component/constraint/CableEquality/CableEquality.py +++ b/examples/sofapython3/component/constraint/CableEquality/CableEquality.py @@ -32,7 +32,7 @@ def createScene(rootNode): model.addObject('UniformMass', totalMass=0.1) model.addObject('TetrahedronFEMForceField', poissonRatio=Const.PoissonRation, youngModulus=Const.YoungsModulus) model.addObject('BoxROI', name='BoxROI1', box=Const.FixedBoxCoordsBack, drawBoxes=True) - model.addObject('RestShapeSpringsForceField', indices='@BoxROI1.indices', stiffness=1e12) + model.addObject('FixedWeakConstraint', indices='@BoxROI1.indices', stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py b/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py index 4e392a1..1f9c25e 100644 --- a/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py +++ b/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py @@ -53,7 +53,7 @@ def createScene(rootNode): model.addObject('UniformMass', totalMass=0.1) model.addObject('TetrahedronFEMForceField', poissonRatio=0.3, youngModulus=150) model.addObject('BoxROI', name='boxROI', box=[-10, -15, 50, 10, 15, 90], drawBoxes=True) - model.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e2) + model.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e2) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py b/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py index 375187a..6c0ea9c 100644 --- a/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py +++ b/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py @@ -71,7 +71,7 @@ def createScene(rootNode): # Ex: if SlidingActuator simulates a single dof (e.g. translation along x), # the other dofs must be fixed using this component model.addObject('PartialFixedProjectiveConstraint', indices=0, fixedDirections=[0, 1, 1, 1, 1, 0]) - model.addObject('RestShapeSpringsForceField', indices=0, angularStiffness=1000, stiffness=1000) + model.addObject('FixedWeakConstraint', indices=0, angularStiffness=1000, stiffness=1000) ########################################## # Actuator # diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py index ebd92d1..0268925 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py +++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py @@ -43,7 +43,7 @@ def createScene(rootNode): tetrahedra=model.container.tetrahedra.linkpath) model.addObject('BoxROI', name='boxROISubTopo', box=[-175, 22.5, -8, -19, 28, 8], drawBoxes=False, position="@tetras.rest_position", tetrahedra=model.container.tetrahedra.linkpath) - model.addObject('RestShapeSpringsForceField', indices=model.boxROI.indices.linkpath, stiffness=1e12) + model.addObject('FixedWeakConstraint', indices=model.boxROI.indices.linkpath, stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py index d7402a9..a946531 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py +++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py @@ -31,7 +31,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', template='Vec3', poissonRatio=0.3, youngModulus=18000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -6, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) + bunny.addObject('FixedWeakConstraint', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/effector diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py index ce44e64..259a10c 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py +++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py @@ -31,7 +31,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', template='Vec3', poissonRatio=0.3, youngModulus=18000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -6, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) + bunny.addObject('FixedWeakConstraint', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/effector diff --git a/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py b/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py index a915619..c602b4c 100644 --- a/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py +++ b/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py @@ -39,7 +39,7 @@ def createScene(rootNode): model.addObject('TetrahedronFEMForceField', poissonRatio=Const.PoissonRation, youngModulus=Const.YoungsModulus) model.addObject('BoxROI', box=Const.FixedBoxCoords, drawBoxes=True) - model.addObject('RestShapeSpringsForceField', indices=model.BoxROI.indices.linkpath, stiffness=1e12) + model.addObject('FixedWeakConstraint', indices=model.BoxROI.indices.linkpath, stiffness=1e12) model.addObject('LinearSolverConstraintCorrection') ########################################## diff --git a/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py b/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py index 08d0335..fa30261 100644 --- a/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py +++ b/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py @@ -23,7 +23,7 @@ def createScene(rootNode): bunny.addObject('UniformMass', totalMass=0.5) bunny.addObject('TetrahedronFEMForceField', poissonRatio=0.45, youngModulus=60000) bunny.addObject('BoxROI', name='boxROI', box=[-5, -5.5, -5, 5, -4.5, 5], drawBoxes=True) - bunny.addObject('RestShapeSpringsForceField', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) + bunny.addObject('FixedWeakConstraint', indices=bunny.boxROI.indices.linkpath, stiffness=1e12) bunny.addObject('LinearSolverConstraintCorrection') # bunny/effector diff --git a/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py b/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py index 1a7314a..c8bfb74 100644 --- a/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py +++ b/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py @@ -36,7 +36,7 @@ def createScene(rootNode): [-2, 2, -2, 1, 6, 1]], drawBoxes=True) bunny.addObject('ComplementaryROI', name="outROI", template="Vec3", position="@loader.position", nbSet=1, setIndices1="@boxROIFixed.indices") - bunny.addObject('RestShapeSpringsForceField', indices='@outROI.indices', stiffness=1e12) + bunny.addObject('FixedWeakConstraint', indices='@outROI.indices', stiffness=1e12) bunny.addObject('BoxROI', name='boxROI1', box=[-4.5, 2, -5, -2.5, 6, -1], drawBoxes=True) bunny.addObject('BoxROI', name='boxROI2', box=[-2, 2, -2, 1, 6, 1], drawBoxes=True) bunny.addObject('LinearSolverConstraintCorrection', linearSolver=bunny.SparseLDLSolver.getLinkPath())