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[scenes] Update scenes to be compatible with changes in SOFA regarding IntegrationScheme #64

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5ee5c5a
[scenes] Update scenes to be compatible with changes in SOFA regardi…
epernod Sep 15, 2026
6aba9b4
add other scene
epernod Oct 5, 2026
660b74c
up python version
epernod Oct 5, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Expand Up @@ -191,7 +191,7 @@ jobs:
- name: Setup Python
uses: actions/setup-python@v5
with:
python-version: '3.10'
python-version: '3.13'

- name: Install dependencies
shell: bash
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4 changes: 2 additions & 2 deletions examples/ArticulatedToolManager.scn
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Expand Up @@ -19,7 +19,7 @@
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand Down Expand Up @@ -57,7 +57,7 @@


<Node name="Instrument" >
<EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
<EulerImplicitIntegrationScheme name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>

<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1"/>
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69 changes: 69 additions & 0 deletions examples/Barycentric_Carving.scn
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@@ -0,0 +1,69 @@
<?xml version="1.0" ?>
<Node name="root" dt="0.03" showBoundingTree="0" gravity="0 -0.9 0">
<Node name="RequiredPlugins">
<RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [PointCollisionModel, SphereCollisionModel, TriangleCollisionModel] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping, Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin pluginName="SofaCarving"/> <!-- Needed to use components [CarvingManager] -->
<RequiredPlugin pluginName="InfinyToolkit"/> <!-- Needed to use components [CarvingManager] -->
</Node>

<VisualStyle displayFlags="showCollisionModels hideVisual" />

<DefaultAnimationLoop />
<DefaultVisualManagerLoop />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1"/>

<EulerImplicitIntegrationScheme name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>

<CarvingManager active="true" carvingDistance="1.0"/>

<Node name="carvingElement">
<MechanicalObject name="Particles" template="Vec3d" position="-5 10 0" velocity="0 0 0"/>
<UniformMass name="Mass" totalMass="10.0" />
<SphereCollisionModel name="tool" radius="0.1" contactStiffness="10" tags="CarvingTool"/>
</Node>

<Node name="LiverFFD-lowres">
<EulerImplicitIntegrationScheme />
<CGLinearSolver iterations="100" tolerance="1e-7" threshold="1e-7"/>
<MechanicalObject name="gridDof"/>
<UniformMass totalMass="100.0" />
<RegularGridTopology nx="4" ny="3" nz="3" xmin="-10.25" xmax="-3.25" ymin="0.25" ymax="5.25" zmin="-2" zmax="3" />
<BoxConstraint box="-8.5 0 -2.5 -5 3 2" />
<RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader" filename="mesh/liver.obj" translation="-5 0 0" handleSeams="1" />
<MechanicalObject position="@[-1].position" name="surfDof" />

<TriangleSetTopologyContainer name="Container" triangles="@meshLoader.triangles"/>
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>

<TriangleCollisionModel name="triangleCol" contactStiffness="10" tags="CarvingSurface"/>
<PointCollisionModel name="pointCol" contactStiffness="10" tags="CarvingSurface"/>

<BarycentricMapping input="@../gridDof" output="@./surfDof" />
</Node>

</Node>
</Node>
6 changes: 3 additions & 3 deletions examples/BeatingCube.scn
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Expand Up @@ -11,7 +11,7 @@
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -34,8 +34,8 @@


<Node name="DeformableCube">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-4" threshold="1.0e-4" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-4" threshold="1.0e-4" />

<MeshGmshLoader name="loader" filename="./mesh/cube_01.msh" />
<MechanicalObject position="@loader.position" name="Volume" />
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6 changes: 3 additions & 3 deletions examples/BeatingCube_moving.scn
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Expand Up @@ -11,7 +11,7 @@
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -34,8 +34,8 @@


<Node name="DeformableCube">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-4" threshold="1.0e-4" />
<EulerImplicitIntegrationScheme name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="15" name="linearSolver" tolerance="1.0e-4" threshold="1.0e-4" />

<MeshGmshLoader name="loader" filename="./mesh/cube_01.msh" />
<MechanicalObject position="@loader.position" name="Volume" />
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14 changes: 7 additions & 7 deletions examples/CollisionDetectionDisplay.scn
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Expand Up @@ -8,7 +8,7 @@
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
Expand All @@ -33,8 +33,8 @@
<MeshOBJLoader name='Loader-floor' filename='mesh/floor2b.obj'/>

<Node name="Torus">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject dx="0" dy="20" dz="29" rz="64" />
<UniformMass totalMass="10" />
<RegularGridTopology nx="6" ny="5" nz="2" xmin="-7.5" xmax="7.5" ymin="-6" ymax="6" zmin="-1.75" zmax="1.75" />
Expand All @@ -55,8 +55,8 @@
</Node>

<Node name="Dragon">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject dx="20" dy="20" dz="29" rx="33" />
<UniformMass totalMass="10" />
<RegularGridTopology nx="6" ny="5" nz="3" xmin="-11" xmax="11" ymin="-7" ymax="7" zmin="-4" zmax="4" />
Expand All @@ -77,8 +77,8 @@
</Node>

<Node name="Frog">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<EulerImplicitIntegrationScheme name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linearSolver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject dx="-20" dy="20" dz="29" ry="10" />
<UniformMass totalMass="10" />
<RegularGridTopology nx="6" ny="3" nz="5" xmin="-10" xmax="8" ymin="-3" ymax="2.5" zmin="-7" zmax="7" />
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4 changes: 2 additions & 2 deletions examples/Cube_AdvCarvingTexcoords.scn
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Expand Up @@ -12,7 +12,7 @@
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -34,7 +34,7 @@
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />

<EulerImplicitSolver name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>

<AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" carvingDistance="0.05"
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4 changes: 2 additions & 2 deletions examples/Cube_AdvCarvingWithRefinement.scn
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Expand Up @@ -12,7 +12,7 @@
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -35,7 +35,7 @@
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />

<EulerImplicitSolver name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>

<AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.5"
Expand Down
4 changes: 2 additions & 2 deletions examples/Cube_AdvCarvingWithRefinementTexcoords.scn
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Expand Up @@ -12,7 +12,7 @@
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -32,7 +32,7 @@
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />

<EulerImplicitSolver name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>

<AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.5"
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4 changes: 2 additions & 2 deletions examples/Cube_Carving.scn
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Expand Up @@ -10,7 +10,7 @@
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->
Expand All @@ -31,7 +31,7 @@
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1"/>

<EulerImplicitSolver name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme name="EulerImplicit" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>

<CarvingManager active="true" carvingDistance="0.0"/>
Expand Down
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