[examples] Fix warnings of all examples (#5183)

* fix scene warnings in Benchmark/Accuracy/ * fix scene warnings in Demos * fix scene warnings in Benchmark/Performance * fix scene warnings in Tutorials * start cleaning in Component * continue cleaning in Component * complete cleaning in Component * Update examples/Component/Controller/test_sleep.scn --------- Co-authored-by: erik pernod <[email protected]>
sofa-framework · Jan 22, 2025 · b754512 · b754512
1 parent 797e005
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Showing 49 changed files with 170 additions and 128 deletions.
diff --git a/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn b/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn
@@ -11,7 +11,7 @@
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
-    <RequiredPlugin name="SofaGraphComponent"/> <!-- Needed to use components [Gravity] -->
+    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [Gravity] -->
     <DefaultAnimationLoop/>
 
     <VisualStyle displayFlags="showBehaviorModels hideCollisionModels hideMappings showForceFields" />

diff --git a/examples/Benchmark/Accuracy/cylinder_TLEDTetraSolution.scn.view b/examples/Benchmark/Accuracy/cylinder_TLEDTetraSolution.scn.view
diff --git a/examples/Benchmark/Performance/BuildLCP/BuiltConstraintCorrection.scn b/examples/Benchmark/Performance/BuildLCP/BuiltConstraintCorrection.scn
@@ -18,7 +18,7 @@
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
 
     <VisualStyle displayFlags="showVisual showBehaviorModels" />
-    <FreeMotionAnimationLoop initial_guess="true" maxIt="100" />
+    <FreeMotionAnimationLoop />
     <CollisionPipeline depth="8" verbose="0" draw="0" />
     <BruteForceBroadPhase name="N2" />
     <BVHNarrowPhase />

diff --git a/examples/Benchmark/Performance/BuildLCP/NonBuiltConstraintCorrection.scn b/examples/Benchmark/Performance/BuildLCP/NonBuiltConstraintCorrection.scn
@@ -18,7 +18,7 @@
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
 
     <VisualStyle displayFlags="showVisual showBehaviorModels" />
-    <FreeMotionAnimationLoop initial_guess="true" maxIt="100" />
+    <FreeMotionAnimationLoop />
     <CollisionPipeline depth="8" verbose="0" draw="0" />
     <BruteForceBroadPhase name="N2" />
     <BVHNarrowPhase />

diff --git a/examples/Benchmark/Performance/TorusFall.scn b/examples/Benchmark/Performance/TorusFall.scn
diff --git a/examples/Benchmark/Performance/benchmark_cubes.scn b/examples/Benchmark/Performance/benchmark_cubes.scn
@@ -29,7 +29,7 @@
     <CollisionPipeline name="CollisionPipeline" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
-    <NewProximityIntersection name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0" />
+    <NewProximityIntersection name="Proximity" alarmDistance="0.2" contactDistance="0.09" />
     <CollisionResponse name="Response" response="FrictionContactConstraint" />
     <LCPConstraintSolver maxIt="1000" tolerance="0.001"  build_lcp="false"/>
 

diff --git a/examples/Component/AnimationLoop/FreeMotionAnimationLoop.scn b/examples/Component/AnimationLoop/FreeMotionAnimationLoop.scn
@@ -24,6 +24,7 @@ To speed up the collision detection, replace BVHNarrowPhase by ParallelBVHNarrow
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->  
 
     <VisualStyle displayFlags="showBehaviorModels"/>
     <FreeMotionAnimationLoop parallelCollisionDetectionAndFreeMotion="true"/>
@@ -44,26 +45,26 @@ To speed up the collision detection, replace BVHNarrowPhase by ParallelBVHNarrow
         <OglModel name="Visual" src="@meshLoader_0" color="0.5 0.5 0.5 1.0"/>
     </Node>
     <Node name="TorusFEM">
-        <EulerImplicitSolver rayleighMass="0.01" rayleighStiffness="0.001"/>
-        <CGLinearSolver iterations="15" threshold="1.0e-15" tolerance="1.0e-9"/>
-        <!--<SparseLDLSolver />-->
         <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh"/>
         <MeshTopology src="@loader"/>
+        <EulerImplicitSolver rayleighMass="0.01" rayleighStiffness="0.001"/>
+        <SparseLDLSolver />
         <MechanicalObject src="@loader" dx="-12" dy="0" dz="0" rx="0" ry="0" rz="0" scale="5.0"/>
         <UniformMass totalMass="0.2"/>
         <TetrahedronFEMForceField name="FEM" youngModulus="60000" poissonRatio="0.48" computeGlobalMatrix="false" method="polar"/>
-        <!--<LinearSolverConstraintCorrection />-->
-        <PrecomputedConstraintCorrection rotations="true" recompute="true"/>
+        <LinearSolverConstraintCorrection />
+
         <Node name="Visu">
             <MeshOBJLoader name="meshLoader_2" filename="mesh/torus.obj" scale="5.0" handleSeams="1" />
             <OglModel name="Visual" src="@meshLoader_2" color="red" dx="-12" dy="0" dz="0" rx="0" ry="0" rz="0"/>
             <BarycentricMapping input="@.." output="@Visual"/>
         </Node>
+
         <Node name="Surf2">
             <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj"/>
             <MeshTopology src="@loader"/>
             <MechanicalObject src="@loader" dx="-12" dy="0" dz="0" rx="0" ry="0" rz="0" scale="5.0"/>
-            <TriangleCollisionModel contactStiffness="0.1"/>
+            <TriangleCollisionModel/>
             <LineCollisionModel/>
             <PointCollisionModel/>
             <BarycentricMapping/>

diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_NNCG.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_NNCG.scn
@@ -62,9 +62,9 @@
             <MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
             <MeshTopology src="@loader" />
             <MechanicalObject src="@loader" />
-            <TriangleCollisionModel contactStiffness="10.0" />
-            <LineCollisionModel contactStiffness="10.0" />
-            <PointCollisionModel contactStiffness="10.0" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
         <Node name="Constraints">

diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_PGS.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_PGS.scn
@@ -62,9 +62,9 @@
             <MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
             <MeshTopology src="@loader" />
             <MechanicalObject src="@loader" />
-            <TriangleCollisionModel contactStiffness="10.0" />
-            <LineCollisionModel contactStiffness="10.0" />
-            <PointCollisionModel contactStiffness="10.0" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
         <Node name="Constraints">

diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_UGS.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_UGS.scn
@@ -62,9 +62,9 @@
             <MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
             <MeshTopology src="@loader" />
             <MechanicalObject src="@loader" />
-            <TriangleCollisionModel contactStiffness="10.0" />
-            <LineCollisionModel contactStiffness="10.0" />
-            <PointCollisionModel contactStiffness="10.0" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
         <Node name="Constraints">

diff --git a/examples/Component/Constraint/Lagrangian/NonBuiltConstraintCorrection.scn b/examples/Component/Constraint/Lagrangian/NonBuiltConstraintCorrection.scn
@@ -18,7 +18,7 @@
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
 
     <VisualStyle displayFlags="showVisual showBehaviorModels" />
-    <FreeMotionAnimationLoop initial_guess="true" maxIt="100" />
+    <FreeMotionAnimationLoop />
     <CollisionPipeline depth="8" verbose="0" draw="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>

diff --git a/examples/Component/Constraint/Lagrangian/SlidingLagrangianConstraint.scn b/examples/Component/Constraint/Lagrangian/SlidingLagrangianConstraint.scn
@@ -43,9 +43,9 @@
         <Node name="ColliCube">
             <MeshTopology filename="mesh/cube.obj" />
             <MechanicalObject scale="1.0" />
-            <TriangleCollisionModel contactStiffness="0.1" />
-            <LineCollisionModel contactStiffness="0.1" />
-            <PointCollisionModel contactStiffness="0.1" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
         <Node name="Constraints">
@@ -71,9 +71,9 @@
         <Node name="ColliCube">
             <MeshTopology filename="mesh/cube.obj" />
             <MechanicalObject scale="1.0" />
-            <TriangleCollisionModel contactStiffness="0.1" />
-            <LineCollisionModel contactStiffness="0.1" />
-            <PointCollisionModel contactStiffness="0.1" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
         <Node name="Constraints">

diff --git a/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn b/examples/Component/Constraint/Projective/FixedRotationProjectiveConstraint.scn
@@ -29,7 +29,7 @@
             <Node name="spring" gravity="0 -9.81 0">
                 <MechanicalObject template="Rigid3" name="default4" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 -1 0 0 0 0 0 1" />
                 <UniformMass name="default54" showAxisSizeFactor="1" totalMass="1.0"/>
-                <RigidMapping template="Rigid3,Rigid3" name="default1" rigidIndexPerPoint="1 1" axisLength="0.001" />
+                <RigidMapping template="Rigid3,Rigid3" name="default1" rigidIndexPerPoint="1 1" />
                 <JointSpringForceField template="Rigid3" name="default5" spring="BEGIN_SPRING  0 1  KS_T 1e+06 100000  KS_R 0 1000  KS_B 100  END_SPRING&#x0A;" />
             </Node>
         </Node>
@@ -40,7 +40,7 @@
             <Node name="spring" gravity="0 -9.81 0">
                 <MechanicalObject template="Rigid3" name="default9" translation="0 0 0" rotation="0 0 0" restScale="1" position="0 0 0 0 0 0 1 -1 0 0 0 0 0 1" />
                 <UniformMass name="default10" showAxisSizeFactor="1" totalMass="1.0"/>
-                <RigidMapping template="Rigid3,Rigid3" name="default11" rigidIndexPerPoint="1 1" axisLength="0.001" />
+                <RigidMapping template="Rigid3,Rigid3" name="default11" rigidIndexPerPoint="1 1" />
                 <JointSpringForceField template="Rigid3" name="default12" spring="BEGIN_SPRING  0 1  END_SPRING&#x0A;" />
             </Node>
         </Node>

diff --git a/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn
@@ -33,6 +33,7 @@
 
     <!-- # Header of the simulation -->
     <FreeMotionAnimationLoop name="FreeMotionAnimationLoop" parallelODESolving="true" parallelCollisionDetectionAndFreeMotion="true"/>
+    <GenericConstraintSolver maxIterations="1000" tolerance="0.001" />
 
     <Node name="Box">
         <EulerImplicitSolver name="EulerImplicitScheme" />

diff --git a/examples/Component/Controller/MechanicalStateControllerTranslation.scn b/examples/Component/Controller/MechanicalStateControllerTranslation.scn
@@ -14,6 +14,9 @@
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
     <VisualStyle displayFlags="showForceFields showCollisionModels" />
+
+    <DefaultAnimationLoop />
+
     <CollisionPipeline depth="6" verbose="0" draw="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>

diff --git a/examples/Component/Controller/test_sleep.scn b/examples/Component/Controller/test_sleep.scn
@@ -63,9 +63,9 @@
             <MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
             <MeshTopology src="@loader" />
             <MechanicalObject src="@loader" />
-            <TriangleCollisionModel contactStiffness="10.0" />
-            <LineCollisionModel contactStiffness="10.0" />
-            <PointCollisionModel contactStiffness="10.0" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
     </Node>
@@ -89,9 +89,9 @@
             <MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
             <MeshTopology src="@loader" />
             <MechanicalObject src="@loader" />
-            <TriangleCollisionModel contactStiffness="10.0" />
-            <LineCollisionModel contactStiffness="10.0" />
-            <PointCollisionModel contactStiffness="10.0" />
+            <TriangleCollisionModel />
+            <LineCollisionModel />
+            <PointCollisionModel />
             <RigidMapping />
         </Node>
     </Node>

diff --git a/examples/Component/Controller/test_sleep3.scn b/examples/Component/Controller/test_sleep3.scn
@@ -101,7 +101,7 @@
         <TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" />
         <LineCollisionModel name="FloorLine_line" simulated="0" moving="0" />
         <PointCollisionModel name="FloorLine_point" simulated="0" moving="0" />
-        <MeshOBJLoader name="meshLoader_3" filename="mesh/floor3.obj" scaleTex="0.2 0.2" scale="1.75" handleSeams="1" />
+        <MeshOBJLoader name="meshLoader_3" filename="mesh/floor3.obj" scale="1.75" handleSeams="1" />
         <OglModel name="FloorV" src="@meshLoader_3" texturename="textures/brushed_metal.bmp" dy="-10" />
     </Node>
 </Node>
diff --git a/examples/Component/Engine/Generate/MergePoints.scn b/examples/Component/Engine/Generate/MergePoints.scn
@@ -45,7 +45,7 @@
 			<UniformMass totalMass="50.0" />
             <HexahedronFEMForceField name="FEM" youngModulus="4000.0" poissonRatio="0.30" method="large" updateStiffnessMatrix="false" printLog="0" 
             drawing="1"/>            
-            <UncoupledConstraintCorrection />
+            <UncoupledConstraintCorrection defaultCompliance="0.05"/>
 
             <Node name="Visu">	
 				<QuadSetTopologyContainer  name="Container" 

diff --git a/examples/Component/Engine/Select/MeshROI.scn b/examples/Component/Engine/Select/MeshROI.scn
@@ -38,7 +38,7 @@
         <Node name="MeshROI"  >
             <MeshOBJLoader name="ROIloader" filename="mesh/malleus.obj" scale3d="1 1 1" translation="0 0 0" rotation="0 0 0"/>
             <OglModel />
-            <MeshROI name="ROIm"  drawMesh="0" drawBox="0" drawEdges="0" drawTriangles="1" drawTetrahedra="1" drawOut="0" computeMeshROI="1"  doUpdate="0"
+            <MeshROI name="ROIm"  drawBox="0" drawEdges="0" drawTriangles="1" drawTetrahedra="1" drawOut="0" computeMeshROI="1"  doUpdate="0"
                position="@../mecaObj.position" tetrahedra="@../loader.tetrahedra" ROIposition="@ROIloader.position" ROItriangles="@ROIloader.triangles" />
         </Node>
     </Node>

diff --git a/examples/Component/Engine/Select/NearestPointROI.scn b/examples/Component/Engine/Select/NearestPointROI.scn
@@ -36,14 +36,14 @@
             <BoxROI box="-0.1 -0.1 -0.1 3.1 3.1 0.1" name="box"/>
             <FixedProjectiveConstraint indices="@box.indices"/>
             <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
-            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
+            <UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
         </Node>
         <Node name="M2">
             <MechanicalObject name="mo"/>
             <UniformMass totalMass="160" />
             <RegularGridTopology nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="9" zmax="18" />
             <TetrahedronFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
-            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
+            <UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
         </Node>
         <Node name="M3">
             <MechanicalObject name="mo"/>
@@ -52,7 +52,7 @@
             <BoxROI box="-0.1 -0.1 26.99 3.1 3.1 27.1" name="box"/>
             <FixedProjectiveConstraint indices="@box.indices"/>
             <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
-            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
+            <UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
         </Node>
 
         <NearestPointROI template="Vec3" name="np1" object1="@./M1/mo" object2="@./M2/mo" radius="0.1"/>
@@ -75,14 +75,14 @@
             <BoxROI box="3.9 -0.1 -0.1 7.1 3.1 0.1" name="box"/>
             <FixedProjectiveConstraint indices="@box.indices"/>
             <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
-            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
+            <UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
         </Node>
         <Node name="M2"> <!-- This object has a higher resolution than the others -->
             <MechanicalObject name="mo"/>
             <UniformMass totalMass="160" />
             <RegularGridTopology nx="8" ny="8" nz="20" xmin="4" xmax="7" ymin="0" ymax="3" zmin="9" zmax="18" />
             <TetrahedronFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
-            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
+            <UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
         </Node>
         <Node name="M3">
             <MechanicalObject name="mo"/>
@@ -91,7 +91,7 @@
             <BoxROI box="3.9 -0.1 26.99 7.1 3.1 27.1" name="box"/>
             <FixedProjectiveConstraint indices="@box.indices"/>
             <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
-            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
+            <UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
         </Node>
 
         <!--

diff --git a/examples/Component/IO/Mesh/MeshExporter.scn b/examples/Component/IO/Mesh/MeshExporter.scn
@@ -1,7 +1,12 @@
- <?xml version='1.0'?>
- <Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >
+<?xml version='1.0'?>
+
+<Node name='Root' gravity='0 0 0' time='0' animate='0' bbox="0 0 0 1 1 1" >
+    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> 
+    <RequiredPlugin name="Sofa.Component.StateContainer"/>
+    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/>
+
     <DefaultAnimationLoop/>
     <RegularGridTopology name='grid' n='6 6 6' min='-10 -10 -10' max='10 10 10' p0='-30 -10 -10' computeHexaList='0'/>
     <MechanicalObject name="MechaObj"/>
     <MeshExporter name='exporterA' format='vtk' printLog='true' filename='outFile' exportEveryNumberOfSteps='5' position="@MechaObj.position" hexas="@grid.computeHexaList" />
- </Node>
+</Node>
diff --git a/examples/Component/IO/Mesh/OBJExporter.scn b/examples/Component/IO/Mesh/OBJExporter.scn
@@ -11,10 +11,12 @@
     <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
 
+    <DefaultAnimationLoop />
+
     <Node name="M1">
         <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <SparseLDLSolver printLog="false"/>
-        <CGLinearSolver iterations="1000" threshold="1.0e-9" />
+        <CGLinearSolver tolerance="1e-5" iterations="1000" threshold="1.0e-9" />
         <MechanicalObject template="Vec3d" />
         <UniformMass totalMass="100" />
         <RegularGridTopology nx="4" ny="4" nz="40" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn b/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn
@@ -42,7 +42,8 @@
         <ConstantForceField forces="0 -0.1 0" />
 
         <Node name="Triangle">
-            <include href="Objects/TriangleSetTopology.xml" />
+            <TriangleSetTopologyContainer name="Container"/>
+            <TriangleSetTopologyModifier />
             <Tetra2TriangleTopologicalMapping input="@/Truss/Container" output="@Container" />
             <TriangleCollisionModel />
             <Node name="TriangleVisual">
@@ -59,9 +60,10 @@
             <ConstantForceField indices="5" forces="0 0 0 -10 0 0" />
             <BarycentricMapping isMechanical="true" input="@TrussMO" output="@BeamMO" />
             <Node name="VisuThread">
-                <MechanicalObject name="Quads" />
-                <include href="Objects/QuadSetTopology.xml" />
+                <QuadSetTopologyContainer name="Container"/>
+                <QuadSetTopologyModifier />
                 <Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMesh" output="@Container" />
+                <MechanicalObject name="Quads" />
                 <TubularMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMO" output="@Quads" />
                 <Node name="VisuOgl">
                     <OglModel name="Visual" color="0.5 0.5 1.0" />

diff --git a/examples/Component/Mapping/Linear/DeformableOnRigidFrameMapping.scn b/examples/Component/Mapping/Linear/DeformableOnRigidFrameMapping.scn
@@ -20,7 +20,7 @@
     <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
     <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
     <VisualStyle displayFlags="showBehavior showVisual" />
-    <CollisionPipeline depth="6" verbose="0" draw="0" />
+    <CollisionPipeline depth="6" draw="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>
     <NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
@@ -39,7 +39,7 @@
         <!-- 		<Node name="TorusRigid"> -->
         <Node name="Torus">
             <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
-            <CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" verbose="0" />
+            <CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" />
             <MechanicalObject name="rigidframe" template="Rigid3" position="1 2 0 0 0 0.7 0.7" />
             <UniformMass filename="BehaviorModels/torus.rigid" />
             <!--<FixedProjectiveConstraint /> -->