### Creation of a Pendulum (8/8)

Description

To show the genericity of SOFA, the last tutorial will simulate the same scene but using a different ODE solver and integration scheme.

We will remove the EulerSolver and replace it with the EulerImplicitSolver. This solver contains the algorithm used to update particle positions and velocities at each time step. It uses an auxiliary component, the CGLinearSolver, to solve equation systems.

Key points

Right click on the EulerSolver in the Modeler's scene graph, and select Delete.

Find the EulerImplicitSolver component, and add it on the root node. Find the CGLinearSolver component, and add it on the root node.

Results

Run in SOFA and animate.

The behavior is slightly different. Try modifying the parameters of the ODE Solver and the Linear Solver.

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