Update scene completDirectNeedleInsertion (#144)

examples/python3/wip/completDirectNeedleInsertion.py

@@ -17,12 +17,28 @@
 from splib3.numerics import Quat
 
 sys.path.append('../')
-from createFemRegularGrid import createFemCube
-from usefulFunctions import BuildCosseratGeometry, AddPointProcess
-
-pluginNameList = 'SofaConstraint SofaDeformable SofaImplicitOdeSolver SofaMeshCollision SofaPreconditioner' \
-                 ' SofaGeneralTopology SofaOpenglVisual SofaGeneralRigid SoftRobots SofaSparseSolver' \
-                 ' Cosserat SofaBoundaryCondition'
+from cosserat.createFemRegularGrid import createFemCube
+from cosserat.usefulFunctions import BuildCosseratGeometry, AddPointProcess
+
+pluginNameList = """Cosserat
+ Sofa.Component.AnimationLoop
+ Sofa.Component.Collision.Geometry
+ Sofa.Component.Constraint.Lagrangian.Correction
+ Sofa.Component.Constraint.Lagrangian.Solver
+ Sofa.Component.Engine.Select
+ Sofa.Component.LinearSolver.Direct
+ Sofa.Component.Mapping.Linear
+ Sofa.Component.ODESolver.Backward
+ Sofa.Component.Setting
+ Sofa.Component.SolidMechanics.FEM.Elastic
+ Sofa.Component.SolidMechanics.Spring
+ Sofa.Component.StateContainer
+ Sofa.Component.Topology.Container.Dynamic
+ Sofa.Component.Topology.Container.Grid
+ Sofa.Component.Topology.Mapping
+ Sofa.Component.Visual
+ Sofa.GL.Component.Rendering3D
+"""
 
 
 class Animation(Sofa.Core.Controller):
@@ -82,7 +98,7 @@ def createScene(rootNode):
     ###############
     cableNode = rootNode.addChild('cableNode')
     cableNode.addObject('EulerImplicitSolver', firstOrder="0", rayleighStiffness="0.1", rayleighMass='0.1')
-    cableNode.addObject('SparseLUSolver', name='solver')
+    cableNode.addObject('EigenSimplicialLDLT', name='solver', template='CompressedRowSparseMatrixd')
     cableNode.addObject('GenericConstraintCorrection')
 
     # ###############