From 5384123ec3e60e2736ee892c0149885639b3f6f1 Mon Sep 17 00:00:00 2001 From: Themis Skamagkis Date: Mon, 15 Dec 2025 16:20:38 +0100 Subject: [PATCH] [scene] Update scenes for SOFA v25.12 --- scenes/NeedleInsertion.py | 2 +- scenes/NeedleInsertionCycles.py | 2 +- scenes/NeedleInsertionHaptics.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/scenes/NeedleInsertion.py b/scenes/NeedleInsertion.py index 048216f..924548f 100644 --- a/scenes/NeedleInsertion.py +++ b/scenes/NeedleInsertion.py @@ -60,7 +60,7 @@ def createScene(root): root.addObject("ConstraintAttachButtonSetting") root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" ) root.addObject("FreeMotionAnimationLoop") - root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=1e-5, maxIt=5000) + root.addObject("BlockGaussSeidelConstraintSolver", tolerance=1e-5, maxIt=5000) root.addObject("CollisionLoop") needleBaseMaster = root.addChild("NeedleBaseMaster") diff --git a/scenes/NeedleInsertionCycles.py b/scenes/NeedleInsertionCycles.py index e245e1f..45bde99 100644 --- a/scenes/NeedleInsertionCycles.py +++ b/scenes/NeedleInsertionCycles.py @@ -60,7 +60,7 @@ def createScene(root): root.addObject("ConstraintAttachButtonSetting") root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" ) root.addObject("FreeMotionAnimationLoop") - root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True) + root.addObject("BlockGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True) root.addObject("CollisionLoop") needleBaseMaster = root.addChild("NeedleBaseMaster") diff --git a/scenes/NeedleInsertionHaptics.py b/scenes/NeedleInsertionHaptics.py index 7da8744..ca85f1e 100644 --- a/scenes/NeedleInsertionHaptics.py +++ b/scenes/NeedleInsertionHaptics.py @@ -65,7 +65,7 @@ def createScene(root): root.addObject("ConstraintAttachButtonSetting") root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" ) root.addObject("FreeMotionAnimationLoop") - root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000)#, regularizationTerm=0.001) + root.addObject("BlockGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000)#, regularizationTerm=0.001) root.addObject("CollisionLoop") toolController = root.addChild("ToolController")