sofa-framework · alxbilger · Dec 12, 2025 · Dec 1, 2025 · Dec 1, 2025 · Dec 1, 2025
diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp
@@ -44,11 +44,11 @@
 #include <sofa/simulation/CollisionVisitor.h>
 #include <sofa/simulation/SolveVisitor.h>
 #include <sofa/simulation/task/MainTaskSchedulerFactory.h>
-#include <sofa/component/constraint/lagrangian/solver/ProjectedGaussSeidelConstraintSolver.h>
+#include <sofa/component/constraint/lagrangian/solver/BlockGaussSeidelConstraintSolver.h>
 
 #include <sofa/simulation/mechanicalvisitor/MechanicalVInitVisitor.h>
 
-#include <sofa/component/constraint/lagrangian/solver/ProjectedGaussSeidelConstraintSolver.h>
+#include <sofa/component/constraint/lagrangian/solver/BlockGaussSeidelConstraintSolver.h>
 using sofa::simulation::mechanicalvisitor::MechanicalVInitVisitor;
 
 
@@ -71,7 +71,7 @@ using namespace core::behavior;
 using namespace sofa::simulation;
 using sofa::helper::ScopedAdvancedTimer;
 
-using DefaultConstraintSolver = sofa::component::constraint::lagrangian::solver::ProjectedGaussSeidelConstraintSolver;
+using DefaultConstraintSolver = sofa::component::constraint::lagrangian::solver::BlockGaussSeidelConstraintSolver;
 
 FreeMotionAnimationLoop::FreeMotionAnimationLoop() :
     d_solveVelocityConstraintFirst(initData(&d_solveVelocityConstraintFirst , false, "solveVelocityConstraintFirst", "solve separately velocity constraint violations before position constraint violations"))
@@ -104,7 +104,7 @@ void FreeMotionAnimationLoop::init()
         l_constraintSolver.set(this->getContext()->get<sofa::core::behavior::ConstraintSolver>(core::objectmodel::BaseContext::SearchDown));
         if (!l_constraintSolver)
         {
-            if (const auto constraintSolver = sofa::core::objectmodel::New<constraint::lagrangian::solver::ProjectedGaussSeidelConstraintSolver>())
+            if (const auto constraintSolver = sofa::core::objectmodel::New<constraint::lagrangian::solver::BlockGaussSeidelConstraintSolver>())
             {
                 getContext()->addObject(constraintSolver);
                 constraintSolver->setName( this->getContext()->getNameHelper().resolveName(constraintSolver->getClassName(), {}));

diff --git a/...omponent/Constraint/Lagrangian/Model/tests/scenes_test/BilateralInteractionConstraint.scn b/...omponent/Constraint/Lagrangian/Model/tests/scenes_test/BilateralInteractionConstraint.scn
@@ -2,7 +2,7 @@
 <Node name="root" dt="0.001" gravity="0 -981 0">
     <VisualStyle displayFlags="showForceFields" />
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver maxIterations="100" tolerance="1e-3" />
+    <BlockGaussSeidelConstraintSolver maxIterations="100" tolerance="1e-3" />
     <CollisionPipeline  depth="6" verbose="0" draw="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>

diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/CMakeLists.txt b/Sofa/Component/Constraint/Lagrangian/Solver/CMakeLists.txt
@@ -13,7 +13,7 @@ set(HEADER_FILES
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/BuiltConstraintSolver.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/ImprovedJacobiConstraintSolver.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/NNCGConstraintSolver.h
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/ProjectedGaussSeidelConstraintSolver.h
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/BlockGaussSeidelConstraintSolver.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/UnbuiltConstraintSolver.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/UnbuiltGaussSeidelConstraintSolver.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/LCPConstraintSolver.h
@@ -32,7 +32,7 @@ set(SOURCE_FILES
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/BuiltConstraintSolver.cpp
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/ImprovedJacobiConstraintSolver.cpp
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/NNCGConstraintSolver.cpp
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/ProjectedGaussSeidelConstraintSolver.cpp
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/BlockGaussSeidelConstraintSolver.cpp
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/UnbuiltConstraintSolver.cpp
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/UnbuiltGaussSeidelConstraintSolver.cpp
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANSOLVER_SOURCE_DIR}/LCPConstraintSolver.cpp

diff --git a/.../ProjectedGaussSeidelConstraintSolver.cpp → ...lver/BlockGaussSeidelConstraintSolver.cpp b/.../ProjectedGaussSeidelConstraintSolver.cpp → ...lver/BlockGaussSeidelConstraintSolver.cpp
@@ -20,7 +20,7 @@
 * Contact information: [email protected]                             *
 ******************************************************************************/
 
-#include <sofa/component/constraint/lagrangian/solver/ProjectedGaussSeidelConstraintSolver.h>
+#include <sofa/component/constraint/lagrangian/solver/BlockGaussSeidelConstraintSolver.h>
 #include <sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h>
 #include <sofa/helper/AdvancedTimer.h>
 #include <sofa/helper/ScopedAdvancedTimer.h>
@@ -30,7 +30,7 @@ namespace sofa::component::constraint::lagrangian::solver
 {
 
 
-void ProjectedGaussSeidelConstraintSolver::doSolve( GenericConstraintProblem * problem ,SReal timeout)
+void BlockGaussSeidelConstraintSolver::doSolve( GenericConstraintProblem * problem ,SReal timeout)
 {
     SCOPED_TIMER_VARNAME(gaussSeidelTimer, "ConstraintsGaussSeidel");
 
@@ -200,7 +200,7 @@ void ProjectedGaussSeidelConstraintSolver::doSolve( GenericConstraintProblem * p
     }
 }
 
-void ProjectedGaussSeidelConstraintSolver::gaussSeidel_increment(bool measureError, SReal *dfree, SReal *force, SReal **w, SReal tol, SReal *d, int dim, bool& constraintsAreVerified, SReal& error, std::vector<core::behavior::ConstraintResolution*>& constraintCorrections, sofa::type::vector<SReal>& tabErrors) const
+void BlockGaussSeidelConstraintSolver::gaussSeidel_increment(bool measureError, SReal *dfree, SReal *force, SReal **w, SReal tol, SReal *d, int dim, bool& constraintsAreVerified, SReal& error, std::vector<core::behavior::ConstraintResolution*>& constraintCorrections, sofa::type::vector<SReal>& tabErrors) const
 {
     for(int j=0; j<dim; ) // increment of j realized at the end of the loop
     {
@@ -284,10 +284,10 @@ void ProjectedGaussSeidelConstraintSolver::gaussSeidel_increment(bool measureErr
 }
 
 
-void registerProjectedGaussSeidelConstraintSolver(sofa::core::ObjectFactory* factory)
+void registerBlockGaussSeidelConstraintSolver(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("A Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components using a Projected Gauss-Seidel iterative method")
-        .add< ProjectedGaussSeidelConstraintSolver >());
+    factory->registerObjects(core::ObjectRegistrationData("A Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components using a Block Gauss-Seidel iterative method")
+        .add< BlockGaussSeidelConstraintSolver >());
 }
 
 

diff --git a/...er/ProjectedGaussSeidelConstraintSolver.h → ...solver/BlockGaussSeidelConstraintSolver.h b/...er/ProjectedGaussSeidelConstraintSolver.h → ...solver/BlockGaussSeidelConstraintSolver.h
@@ -26,10 +26,10 @@
 
 namespace sofa::component::constraint::lagrangian::solver
 {
-class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API ProjectedGaussSeidelConstraintSolver : public BuiltConstraintSolver
+class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API BlockGaussSeidelConstraintSolver : public BuiltConstraintSolver
 {
 public:
-    SOFA_CLASS(ProjectedGaussSeidelConstraintSolver, BuiltConstraintSolver);
+    SOFA_CLASS(BlockGaussSeidelConstraintSolver, BuiltConstraintSolver);
 
 protected:
     virtual void doSolve(GenericConstraintProblem * problem , SReal timeout = 0.0) override;

diff --git a/...agrangian/Solver/src/sofa/component/constraint/lagrangian/solver/NNCGConstraintSolver.cpp b/...agrangian/Solver/src/sofa/component/constraint/lagrangian/solver/NNCGConstraintSolver.cpp
@@ -91,7 +91,7 @@ void NNCGConstraintSolver::doSolve(GenericConstraintProblem * problem , SReal ti
     sofa::type::vector<SReal> tabErrors(dimension);
 
     {
-        // perform one iteration of ProjectedGaussSeidel
+        // perform one iteration of BlockGaussSeidel
         bool constraintsAreVerified = true;
 
         std::copy_n(force, dimension, std::begin(problem->m_lam));

diff --git a/.../Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/NNCGConstraintSolver.h b/.../Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/NNCGConstraintSolver.h
@@ -21,15 +21,15 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/component/constraint/lagrangian/solver/ProjectedGaussSeidelConstraintSolver.h>
+#include <sofa/component/constraint/lagrangian/solver/BlockGaussSeidelConstraintSolver.h>
 #include <sofa/core/behavior/ConstraintResolution.h>
 
 namespace sofa::component::constraint::lagrangian::solver
 {
-class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API NNCGConstraintSolver : public ProjectedGaussSeidelConstraintSolver
+class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API NNCGConstraintSolver : public BlockGaussSeidelConstraintSolver
 {
 public:
-    SOFA_CLASS(NNCGConstraintSolver, ProjectedGaussSeidelConstraintSolver);
+    SOFA_CLASS(NNCGConstraintSolver, BlockGaussSeidelConstraintSolver);
 
     virtual void doSolve(GenericConstraintProblem * problem , SReal timeout = 0.0) override;
 };

diff --git a/...ent/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp b/...ent/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
@@ -27,7 +27,7 @@ namespace sofa::component::constraint::lagrangian::solver
 {
 
 extern void registerNNCGConstraintSolver(sofa::core::ObjectFactory* factory);
-extern void registerProjectedGaussSeidelConstraintSolver(sofa::core::ObjectFactory* factory);
+extern void registerBlockGaussSeidelConstraintSolver(sofa::core::ObjectFactory* factory);
 extern void registerUnbuiltGaussSeidelConstraintSolver(sofa::core::ObjectFactory* factory);
 extern void registerLCPConstraintSolver(sofa::core::ObjectFactory* factory);
 extern void registerImprovedJacobiConstraintSolver(sofa::core::ObjectFactory* factory);
@@ -57,7 +57,7 @@ const char* getModuleVersion()
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
     registerNNCGConstraintSolver(factory);
-    registerProjectedGaussSeidelConstraintSolver(factory);
+    registerBlockGaussSeidelConstraintSolver(factory);
     registerUnbuiltGaussSeidelConstraintSolver(factory);
     registerLCPConstraintSolver(factory);
     registerImprovedJacobiConstraintSolver(factory);

diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BaseTetrahedronFEMForceField_test.h b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BaseTetrahedronFEMForceField_test.h
@@ -137,7 +137,7 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest
             Sofa.Component.Constraint.Projective
         });
 
-        simpleapi::createObject(m_root, "ProjectedGaussSeidelConstraintSolver", { {"tolerance", "1e-3"}, {"maxIt", "1000"} });
+        simpleapi::createObject(m_root, "BlockGaussSeidelConstraintSolver", { {"tolerance", "1e-3"}, {"maxIt", "1000"} });
 
         simpleapi::createObject(m_root, "RegularGridTopology", { {"name", "grid"},
                     {"n", sofa::simpleapi::str(nbrGrid)}, {"min", "0 0 20"}, {"max", "10 40 30"} });

diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp
@@ -626,7 +626,7 @@ std::map<std::string, ComponentChange, std::less<> > uncreatableComponents = {
 
     { "GenericConstraintSolver",
         ComponentChange().withCustomMessage("GenericConstraintSolver has been replaced since v25.12 by a set of new components, whose names relate to the method used:\n"
-             "    - ProjectedGaussSeidelConstraintSolver (if you were using this component without setting 'resolutionMethod' or by setting it to 'ProjectedGaussSeidel')\n"
+             "    - BlockGaussSeidelConstraintSolver (if you were using this component without setting 'resolutionMethod' or by setting it to 'BlockGaussSeidel')\n"
              "    - UnbuiltGaussSeidelConstraintSolver (if you were using this component while setting 'resolutionMethod=\"UnbuiltGaussSeidel\"')\n"
              "    - NNCGConstraintSolver (if you were using this component while setting 'resolutionMethod=\"NonsmoothNonlinearConjugateGradient\"')\n"
              "      --> For NNCGConstraintSolver, data 'newtonIterations' has been replaced by 'maxIterations'"

diff --git a/Sofa/framework/Helper/src/sofa/helper/SelectableItem.h b/Sofa/framework/Helper/src/sofa/helper/SelectableItem.h
@@ -66,7 +66,7 @@ struct DeprecatedItem
  *
  * Example:
  * MAKE_SELECTABLE_ITEMS(ResolutionMethod,
- *      sofa::helper::Item{"ProjectedGaussSeidel", "Projected Gauss-Seidel"},
+ *      sofa::helper::Item{"BlockGaussSeidel", "Block Gauss-Seidel"},
  *      sofa::helper::Item{"UnbuiltGaussSeidel", "Gauss-Seidel no matrix assembly"},
  *      sofa::helper::Item{"NonsmoothNonlinearConjugateGradient", "Non-smooth non-linear conjugate gradient"}
  *  );

diff --git a/Sofa/framework/Simulation/Core/tests/ProjectedGaussSeidelConstraintSolver_test.cpp b/Sofa/framework/Simulation/Core/tests/ProjectedGaussSeidelConstraintSolver_test.cpp
@@ -30,7 +30,7 @@ namespace
 
 /** Test the UncoupledConstraintCorrection class
 */
-struct ProjectedGaussSeidelConstraintSolver_test : BaseSimulationTest
+struct BlockGaussSeidelConstraintSolver_test : BaseSimulationTest
 {
     void SetUp() override
     {
@@ -49,7 +49,7 @@ struct ProjectedGaussSeidelConstraintSolver_test : BaseSimulationTest
                     "   <RequiredPlugin name='Sofa.Component.Collision.Detection.Intersection'/>"
                     "   <RequiredPlugin name='Sofa.Component.Collision.Response.Contact'/>"
                     "   <FreeMotionAnimationLoop />\n"
-                    "   <ProjectedGaussSeidelConstraintSolver name='solver' constraintForces='-1 -1 -1' computeConstraintForces='True' maxIt='1000' tolerance='0.001' />\n"
+                    "   <BlockGaussSeidelConstraintSolver name='solver' constraintForces='-1 -1 -1' computeConstraintForces='True' maxIt='1000' tolerance='0.001' />\n"
                     "   <Node name='collision'>\n"
                     "         <MechanicalObject />\n"
                     "         <UncoupledConstraintCorrection useOdeSolverIntegrationFactors='0' />\n"
@@ -66,7 +66,7 @@ struct ProjectedGaussSeidelConstraintSolver_test : BaseSimulationTest
 };
 
 /// run the tests
-TEST_F(ProjectedGaussSeidelConstraintSolver_test, checkConstraintForce)
+TEST_F(BlockGaussSeidelConstraintSolver_test, checkConstraintForce)
 {
     EXPECT_MSG_NOEMIT(Error);
     enableConstraintForce();

diff --git a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/header.py
@@ -6,7 +6,7 @@ def addHeader(rootNode):
 
     rootNode.addObject('DefaultVisualManagerLoop')
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=50, tolerance=1e-5, printLog=False)
+    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=50, tolerance=1e-5, printLog=False)
     rootNode.addObject('BackgroundSetting', color=[1., 1., 1., 1.])
     rootNode.findData('dt').value=0.01
     rootNode.gravity = [0,-9810,0]

diff --git a/applications/plugins/PersistentContact/examples/grasping.scn b/applications/plugins/PersistentContact/examples/grasping.scn
@@ -2,7 +2,7 @@
 
 	<VisualStyle displayFlags="hideVisual showCollisionModels" />
 
-	<ProjectedGaussSeidelConstraintSolver tolerance="1e-6" printLog="0" maxIterations="200"/>
+	<BlockGaussSeidelConstraintSolver tolerance="1e-6" printLog="0" maxIterations="200"/>
 	<FreeMotionAnimationLoop/>
 
 	<CollisionPipeline depth="6" verbose="0" draw="0"/>

diff --git a/applications/plugins/Sensable/examples/SimpleBox-Method2.scn b/applications/plugins/Sensable/examples/SimpleBox-Method2.scn
@@ -7,7 +7,7 @@
     <RequiredPlugin pluginName="Sensable" />
 
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver />
+    <BlockGaussSeidelConstraintSolver />
 
     <CollisionPipeline depth="8" />
     <BruteForceBroadPhase/>

diff --git a/applications/plugins/SofaHAPI/examples/SofaHAPI1.scn b/applications/plugins/SofaHAPI/examples/SofaHAPI1.scn
@@ -7,7 +7,7 @@
     <RequiredPlugin pluginName="SofaHAPI" />
 
 	<FreeMotionAnimationLoop />
-	<ProjectedGaussSeidelConstraintSolver />
+	<BlockGaussSeidelConstraintSolver />
 
 	<CollisionPipeline depth="8" />
 	<BruteForceBroadPhase/>

diff --git a/applications/plugins/SofaMatrix/examples/ComplianceMatrixExporter.scn b/applications/plugins/SofaMatrix/examples/ComplianceMatrixExporter.scn
@@ -17,7 +17,7 @@
 
     <VisualStyle displayFlags="hideVisualModels showBehaviorModels showMappings showForceFields" />
     <FreeMotionAnimationLoop solveVelocityConstraintFirst="true" />
-    <ProjectedGaussSeidelConstraintSolver tolerance="1e-9" maxIterations="1000"/>
+    <BlockGaussSeidelConstraintSolver tolerance="1e-9" maxIterations="1000"/>
     <ComplianceMatrixExporter exportEveryNumberOfSteps="1" filename="compliance" printLog="true" format="csv" precision="12"/>
 
     <StringMeshCreator name="loader" resolution="20" scale3d="1 1 1" />

diff --git a/applications/plugins/SofaMatrix/examples/ComplianceMatrixImage.scn b/applications/plugins/SofaMatrix/examples/ComplianceMatrixImage.scn
@@ -17,7 +17,7 @@
 
     <VisualStyle displayFlags="hideVisualModels showBehaviorModels showMappings showForceFields" />
     <FreeMotionAnimationLoop solveVelocityConstraintFirst="true" />
-    <ProjectedGaussSeidelConstraintSolver tolerance="1e-9" maxIterations="1000"/>
+    <BlockGaussSeidelConstraintSolver tolerance="1e-9" maxIterations="1000"/>
     <ComplianceMatrixImage/>
 
     <StringMeshCreator name="loader" resolution="20" scale3d="1 1 1" />

diff --git a/applications/plugins/Xitact/examples/xitactTest.scn b/applications/plugins/Xitact/examples/xitactTest.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="SofaOpenglVisual"/>
 	<VisualStyle displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
 	<FreeMotionAnimationLoop />
-	<ProjectedGaussSeidelConstraintSolver/>
+	<BlockGaussSeidelConstraintSolver/>
 	<CollisionPipeline depth="6" verbose="0" draw="0"/>
 	<BruteForceBroadPhase/>
     <BVHNarrowPhase/>

diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.cpp b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.cpp
@@ -82,9 +82,9 @@ void SceneCheckCollisionResponse::doCheckOn(Node* node)
 
                 sofa::core::behavior::ConstraintSolver* constraintSolver;
                 root->get(constraintSolver, sofa::core::objectmodel::BaseContext::SearchRoot);
-                if (!constraintSolver || ( constraintSolver && ( constraintSolver->getClassName() != "ProjectedGaussSeidelConstraintSolver" )) )
+                if (!constraintSolver || ( constraintSolver && ( constraintSolver->getClassName() != "BlockGaussSeidelConstraintSolver" )) )
                 {
-                    m_message <<"A ProjectedGaussSeidelConstraintSolver must be in the scene to solve StickContactConstraint" << msgendl;
+                    m_message <<"A BlockGaussSeidelConstraintSolver must be in the scene to solve StickContactConstraint" << msgendl;
                 }
             }
             /// If FrictionContactConstraint is chosen, make sure the scene includes a FreeMotionAnimationLoop

diff --git a/examples/Benchmark/Performance/TorusFall.scn b/examples/Benchmark/Performance/TorusFall.scn
@@ -30,7 +30,7 @@
   <VisualStyle displayFlags="showVisual showCollisionModels hideBehaviorModels showForceFields hideInteractionForceFields hideWireframe" />
 
   <FreeMotionAnimationLoop name="animationLoop" solveVelocityConstraintFirst="true" parallelCollisionDetectionAndFreeMotion="true" parallelODESolving="true"/>
-  <ProjectedGaussSeidelConstraintSolver name="constraintSolver" maxIterations="100" tolerance="1.0e-9" multithreading="true"/>
+  <BlockGaussSeidelConstraintSolver name="constraintSolver" maxIterations="100" tolerance="1.0e-9" multithreading="true"/>
   <CollisionPipeline name="Pipeline" />
   <BruteForceBroadPhase name="BroadPhase" />
   <BVHNarrowPhase name="NarrowPhase" />

diff --git a/examples/Component/Collision/Response/RuleBasedContactManager.scn b/examples/Component/Collision/Response/RuleBasedContactManager.scn
@@ -20,7 +20,7 @@
 
     <VisualStyle displayFlags="showBehaviorModels showVisual" />
     <FreeMotionAnimationLoop />
-	<ProjectedGaussSeidelConstraintSolver maxIterations="1000" tolerance="0.001"/>
+	<BlockGaussSeidelConstraintSolver maxIterations="1000" tolerance="0.001"/>
     <CollisionPipeline depth="6" verbose="0" draw="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>

diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_PGS.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_PGS.scn
@@ -22,7 +22,7 @@
     <VisualStyle displayFlags="showForceFields" />
     <DefaultVisualManagerLoop />
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver tolerance="0.001" maxIterations="1000"/>
+    <BlockGaussSeidelConstraintSolver tolerance="0.001" maxIterations="1000"/>
     <CollisionPipeline depth="6" verbose="0" draw="0" />
     <BruteForceBroadPhase/>
     <BVHNarrowPhase/>

diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Rigid.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Rigid.scn
@@ -18,7 +18,7 @@
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver tolerance="0.001" maxIterations="1000"/>
+    <BlockGaussSeidelConstraintSolver tolerance="0.001" maxIterations="1000"/>
     <Node name="Beam1">
         <EulerImplicitSolver name="odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <BTDLinearSolver printLog="false" verbose="false" />

diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn
@@ -28,7 +28,7 @@
 
 
     <FreeMotionAnimationLoop computeBoundingBox="0"/>
-    <ProjectedGaussSeidelConstraintSolver maxIterations="1000" tolerance="1e-3"/>
+    <BlockGaussSeidelConstraintSolver maxIterations="1000" tolerance="1e-3"/>
 
     <VisualStyle displayFlags="showBehaviorModels showVisual showForceFields" />
     <CollisionPipeline name="CollisionLoop" verbose="0" />

diff --git a/...nent/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_solvable.scn b/...nent/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_solvable.scn
@@ -17,7 +17,7 @@
     <VisualStyle displayFlags="showForceFields" />
     <DefaultVisualManagerLoop />
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver tolerance="0.0001" maxIterations="1000" regularizationTerm="0.0"/>
+    <BlockGaussSeidelConstraintSolver tolerance="0.0001" maxIterations="1000" regularizationTerm="0.0"/>
 
 
     <Node name="TargetCube0">

diff --git a/...nt/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_unsolvable.scn b/...nt/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_unsolvable.scn
@@ -17,7 +17,7 @@
     <VisualStyle displayFlags="showForceFields" />
     <DefaultVisualManagerLoop />
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver tolerance="0.0001" maxIterations="1000" regularizationTerm="0.0"/>
+    <BlockGaussSeidelConstraintSolver tolerance="0.0001" maxIterations="1000" regularizationTerm="0.0"/>
 
 
     <Node name="TargetCube00">

diff --git a/.../Constraint/Lagrangian/BilateralLagrangianConstraint_with_svd_regularization_solvable.scn b/.../Constraint/Lagrangian/BilateralLagrangianConstraint_with_svd_regularization_solvable.scn
@@ -17,7 +17,7 @@
     <VisualStyle displayFlags="showForceFields showWireFrame showBehavior" />
     <DefaultVisualManagerLoop />
     <FreeMotionAnimationLoop />
-    <ProjectedGaussSeidelConstraintSolver tolerance="0.0001" maxIterations="1000" regularizationTerm="1e-3" useSVDForRegularization="true"/>
+    <BlockGaussSeidelConstraintSolver tolerance="0.0001" maxIterations="1000" regularizationTerm="1e-3" useSVDForRegularization="true"/>
 
 
     <Node name="TargetCubeExtrimities">