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Apply SOFA PR 4750 changes #47

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79dc2ae
Apply data name change
bakpaul Dec 10, 2024
df5940a
Merge branch 'main' into apply_data_name_change_restshapespringforcef…
bakpaul Mar 4, 2025
d688f66
Use FixedWeakConstraint when possible
bakpaul Mar 4, 2025
e6bfa91
Merge remote-tracking branch 'SofaDefrost/main' into apply_data_name_…
bakpaul Apr 3, 2025
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/CableActuator/CableActuator.py
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Expand Up @@ -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('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/constraints
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/CableActuator/Finger.py
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Expand Up @@ -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('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)
finger.addObject('LinearSolverConstraintCorrection')

##########################################
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/CableEffector/PneuNets.py
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Expand Up @@ -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('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12)
model.addObject('LinearSolverConstraintCorrection')

##########################################
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/CableEquality/CableEquality.py
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Expand Up @@ -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('FixedWeakConstraint', indices='@BoxROI1.indices', stiffness=1e12)
model.addObject('LinearSolverConstraintCorrection')

##########################################
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py
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Expand Up @@ -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('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e2)
model.addObject('LinearSolverConstraintCorrection')

##########################################
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py
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Expand Up @@ -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('FixedWeakConstraint', indices=0, angularStiffness=1000, stiffness=1000)

##########################################
# Actuator #
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py
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Expand Up @@ -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('FixedWeakConstraint', indices=model.boxROI.indices.linkpath, stiffness=1e12)
model.addObject('LinearSolverConstraintCorrection')

##########################################
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py
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Expand Up @@ -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('FixedWeakConstraint', indices=bunny.boxROI.indices.linkpath, stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/effector
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2 changes: 1 addition & 1 deletion ...fapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py
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Expand Up @@ -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('FixedWeakConstraint', indices=bunny.boxROI.indices.linkpath, stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/effector
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py
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Expand Up @@ -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('FixedWeakConstraint', indices=model.BoxROI.indices.linkpath, stiffness=1e12)
model.addObject('LinearSolverConstraintCorrection')

##########################################
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py
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Expand Up @@ -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('FixedWeakConstraint', indices=bunny.boxROI.indices.linkpath, stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/effector
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2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py
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Expand Up @@ -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('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())
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2 changes: 1 addition & 1 deletion tests/component/constraint/scenes/SurfacePressureConstraint.scn
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Expand Up @@ -24,7 +24,7 @@
<TetrahedronFEMForceField youngModulus="18000" poissonRatio='0.3' method='large'/>

<BoxROI name='ROI1' box='-5 -15 -5 5 -4.5 5' drawBoxes='true'/>
<RestShapeSpringsForceField points='@ROI1.indices' stiffness='1e12'/>
<RestShapeSpringsForceField indices='@ROI1.indices' stiffness='1e12'/>

<LinearSolverConstraintCorrection/>

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4 changes: 2 additions & 2 deletions tests/component/solver/scenes/Finger.scn
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Expand Up @@ -48,8 +48,8 @@
<BoxROI name='ROI1' box='-15 0 0 5 10 15' drawBoxes='true'/>
<BoxROI name='ROI2' box='-15 0 0 5 10 15' drawBoxes='true'/>

<RestShapeSpringsForceField points='@ROI1.indices' stiffness='1e12'/>
<RestShapeSpringsForceField points='@ROI2.indices' stiffness='1e12'/>
<RestShapeSpringsForceField indices='@ROI1.indices' stiffness='1e12'/>
<RestShapeSpringsForceField indices='@ROI2.indices' stiffness='1e12'/>

<LinearSolverConstraintCorrection/>

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