From 3a9297f4ac9e7b4da07461e11b762ebee558787a Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Tue, 26 Aug 2025 16:07:35 +0200
Subject: [PATCH] Apply changes from SOFA PR 5666 regarding
 GenericConstraintSolver

---
 python3/src/stlib3/communication/UDP_controller.py | 2 +-
 python3/src/stlib3/scene/contactheader.py          | 4 ++--
 python3/src/stlib3/scene/mainheader.py             | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/python3/src/stlib3/communication/UDP_controller.py b/python3/src/stlib3/communication/UDP_controller.py
index 8079e74..8bee2c8 100644
--- a/python3/src/stlib3/communication/UDP_controller.py
+++ b/python3/src/stlib3/communication/UDP_controller.py
@@ -56,7 +56,7 @@ def createScene(rootNode):
                 rootNode.addObject('RequiredPlugin', name='SofaPython3')
 
                 rootNode.addObject('FreeMotionMasterSolver')
-                rootNode.addObject('GenericConstraintSolver',maxIterations=1000 ,tolerance=0.001)
+                rootNode.addObject('ProjectedGaussSeidelConstraintSolver',maxIterations=1000 ,tolerance=0.001)
                 rootNode.addObject(UDP)
 
                 Beam = rootNode.addChild('Beam')
diff --git a/python3/src/stlib3/scene/contactheader.py b/python3/src/stlib3/scene/contactheader.py
index 2d50f5c..fe6b4fe 100644
--- a/python3/src/stlib3/scene/contactheader.py
+++ b/python3/src/stlib3/scene/contactheader.py
@@ -41,8 +41,8 @@ def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
     if applyTo.hasObject("FreeMotionAnimationLoop") is False:
             applyTo.addObject('FreeMotionAnimationLoop')
 
-    if applyTo.hasObject("GenericConstraintSolver") is False:
-            applyTo.addObject('GenericConstraintSolver', tolerance=1e-6, maxIterations=1000)
+    if applyTo.hasObject("ProjectedGaussSeidelConstraintSolver") is False:
+            applyTo.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-6, maxIterations=1000)
 
     return applyTo
 
diff --git a/python3/src/stlib3/scene/mainheader.py b/python3/src/stlib3/scene/mainheader.py
index 6b91dc4..d638a31 100644
--- a/python3/src/stlib3/scene/mainheader.py
+++ b/python3/src/stlib3/scene/mainheader.py
@@ -25,7 +25,7 @@ def MainHeader(node, gravity=[0.0, -9.8, 0.0], dt=0.01, plugins=[], repositoryPa
                 RequiredPlugin,
                 OglSceneFrame,
                 FreeMotionAnimationLoop,
-                GenericConstraintSolver,
+                ProjectedGaussSeidelConstraintSolver,
                 DiscreteIntersection
             }