SofaDefrost · alxbilger · Dec 12, 2025 · Dec 1, 2025
diff --git a/examples/component/constraint/CableConstraint/CableSmoothActuation.py b/examples/component/constraint/CableConstraint/CableSmoothActuation.py
@@ -35,7 +35,7 @@ def createScene(rootNode):
     rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', printLog='0')
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', printLog='0')
 
     ################################################################################################################
     ################################################### Bunny ######################################################

diff --git a/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py b/examples/component/constraint/CableConstraint/DisplacementVsForceControl.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
                             "Sofa.Component.Collision.Response.Contact",  # Needed to use components RuleBasedContactManager
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver

diff --git a/examples/component/constraint/CableConstraint/Finger.py b/examples/component/constraint/CableConstraint/Finger.py
@@ -11,7 +11,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', pluginName=[
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -34,8 +34,8 @@ def createScene(rootNode):
     # when manipulating the robots by specifying their effector's position instead of by direct control
     #  of the actuator's parameters.
     # rootNode.addObject('QPInverseProblemSolver', printLog=False)
-    # Otherwise use a ProjectedGaussSeidelConstraintSolver
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
+    # Otherwise use a BlockGaussSeidelConstraintSolver
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.gravity = [0, -9810, 0]
     rootNode.dt = 0.01

diff --git a/examples/component/constraint/CableConstraint/FingerWithSTLIB.py b/examples/component/constraint/CableConstraint/FingerWithSTLIB.py
@@ -19,7 +19,7 @@ def createScene(rootNode):
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     rootNode.addObject("FreeMotionAnimationLoop")
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject("ProjectedGaussSeidelConstraintSolver", maxIterations=1000, tolerance=0.001)
+    rootNode.addObject("BlockGaussSeidelConstraintSolver", maxIterations=1000, tolerance=0.001)
 
     finger = ElasticMaterialObject(name="finger",
                                    volumeMeshFileName="mesh/finger.vtk",

diff --git a/examples/component/constraint/JointConstraint/JointConstraint.py b/examples/component/constraint/JointConstraint/JointConstraint.py
@@ -10,7 +10,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='ArticulatedSystemPlugin')  # Needed to use components [ArticulatedHierarchyContainer,ArticulatedSystemMapping,Articulation,ArticulationCenter]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop')  # Needed to use components [FreeMotionAnimationLoop]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [UncoupledConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [ProjectedGaussSeidelConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [BlockGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective')  # Needed to use components [FixedProjectiveConstraint]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Generate')  # Needed to use components [GenerateRigidMass]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh')  # Needed to use components [MeshSTLLoader]
@@ -28,7 +28,7 @@ def createScene(rootNode):
     rootNode.gravity = [0., -9810., 0.]
     rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels')
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-4)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-4)
 
     # Simulation node
     simulation = rootNode.addChild('Simulation')

diff --git a/examples/component/constraint/PositionConstraint/PositionConstraint.py b/examples/component/constraint/PositionConstraint/PositionConstraint.py
@@ -3,7 +3,7 @@ def createScene(rootnode):
     rootnode.addObject('RequiredPlugin', name='SoftRobots')
 
     rootnode.addObject('FreeMotionAnimationLoop')
-    rootnode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1e4, tolerance=1e-5, printLog=True)
+    rootnode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=1e4, tolerance=1e-5, printLog=True)
     rootnode.gravity = [0, -9.81, 0]
     rootnode.addObject('VisualStyle', displayFlags='showForceFields')
 

diff --git a/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py b/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py
@@ -13,7 +13,7 @@ def createScene(rootNode):
                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                             "Sofa.Component.Constraint.Lagrangian.Correction",
                             # Needed to use components LinearSolverConstraintCorrection
-                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshOBJLoader, MeshVTKLoader
                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
 
     Bunny(rootNode, name='BunnyPressure', controlType='pressure', initialValue=2)
     Bunny(rootNode, translation=[15, 0, 0], controlType='volumeGrowth', name='BunnyVolume', initialValue=40)

diff --git a/examples/component/constraint/SurfacePressureConstraint/Springy.py b/examples/component/constraint/SurfacePressureConstraint/Springy.py
@@ -14,7 +14,7 @@ def createScene(rootNode):
         "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
         "Sofa.Component.Constraint.Lagrangian.Correction",
         # Needed to use components LinearSolverConstraintCorrection
-        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
         "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
         "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
         "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -33,7 +33,7 @@ def createScene(rootNode):
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
 
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.findData('gravity').value = [0, 0, -981.0]

diff --git a/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py b/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
@@ -8,7 +8,7 @@ def createScene(rootNode):
 
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [LinearSolverConstraintCorrection]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [ProjectedGaussSeidelConstraintSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [BlockGaussSeidelConstraintSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshOBJLoader,MeshVTKLoader]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [EigenSimplicialLDLT]
@@ -32,7 +32,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny
     bunny = rootNode.addChild('bunny')

diff --git a/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py b/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
@@ -18,7 +18,7 @@ def createScene(rootNode):
                                 "Sofa.Component.Collision.Response.Contact",  # Needed to use components CollisionResponse
                                 "Sofa.Component.Constraint.Lagrangian.Correction",
                                 # Needed to use components LinearSolverConstraintCorrection
-                                "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                                "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                                 "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                 "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                 "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -35,7 +35,7 @@ def createScene(rootNode):
     rootNode.addObject('VisualStyle', displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe")
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     rootNode.addObject('CollisionPipeline')
     rootNode.addObject('BruteForceBroadPhase', name="N2")

diff --git a/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py b/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py
@@ -9,7 +9,7 @@ def createScene(rootNode):
                                             "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                                             "Sofa.Component.Constraint.Lagrangian.Correction",
                                             # Needed to use components LinearSolverConstraintCorrection
-                                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                                             "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                             "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                             "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -26,7 +26,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-14)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-14)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01

diff --git a/examples/component/controller/CommunicationController/SimulationInverse_Sender.py b/examples/component/controller/CommunicationController/SimulationInverse_Sender.py
@@ -12,7 +12,7 @@ def createScene(rootNode):
                                         "Sofa.Component.Collision.Geometry",  # Needed to use components SphereCollisionModel
                                         "Sofa.Component.Constraint.Lagrangian.Correction",
                                         # Needed to use components LinearSolverConstraintCorrection, UncoupledConstraintCorrection
-                                        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components ProjectedGaussSeidelConstraintSolver
+                                        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                                         "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                         "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                                         "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
@@ -35,7 +35,7 @@ def createScene(rootNode):
         rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse')
         rootNode.addObject('QPInverseProblemSolver', epsilon=1e-1, maxIterations=1000, tolerance=1e-14)
     else:
-        rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
+        rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01

diff --git a/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py b/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
                                                      "Sofa.Component.Constraint.Lagrangian.Correction",
                                                      # Needed to use components LinearSolverConstraintCorrection, UncoupledConstraintCorrection
                                                      "Sofa.Component.Constraint.Lagrangian.Solver",
-                                                     # Needed to use components ProjectedGaussSeidelConstraintSolver
+                                                     # Needed to use components BlockGaussSeidelConstraintSolver
                                                      "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                                                      "Sofa.Component.IO.Mesh",
                                                      # Needed to use components MeshOBJLoader, MeshSTLLoader, MeshVTKLoader
@@ -53,7 +53,7 @@ def createScene(rootNode):
         rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse')
         rootNode.addObject('QPInverseProblemSolver', epsilon=1e-1, maxIterations=1000, tolerance=1e-14)
     else:
-        rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
+        rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
 
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
 
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
@@ -14,7 +14,7 @@ def createScene(rootNode):
                        displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny mechanical model
     bunny = rootNode.addChild('bunny')

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
@@ -12,7 +12,7 @@ def createScene(rootNode):
                        displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny mechanical model
     bunny = rootNode.addChild('bunny')

diff --git a/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py b/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
@@ -16,7 +16,7 @@ def createScene(rootNode):
     rootNode.gravity = [0., 0., -9810]
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-6, maxIterations=50000)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-6, maxIterations=50000)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")

diff --git a/examples/tutorials/CableGripper/details/step3.py b/examples/tutorials/CableGripper/details/step3.py
@@ -54,7 +54,7 @@ def createScene(rootNode):
     MainHeader(rootNode, plugins=["SoftRobots"])
     rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     Finger(rootNode)