[Simulation] Remove DAGSimulation by damienmarchal · Pull Request #6261 · sofa-framework/sofa

damienmarchal · 2026-08-25T14:24:47Z

Replace all occurrences of DAGSimulation with Simulation in test files and application examples as part of the removal of the deprecated Sofa.Simulation.Graph package.

Replace new sofa::simulation::graph::DAGSimulation() with
new sofa::simulation::Simulation() in all test files
Replace DAGNode with Node in sofaProjectExample
Update SimpleApi to use Simulation instead of DAGSimulation
Remove includes of DAGSimulation.h

Remaining work: remove Sofa.Simulation.Graph package and update CMake dependencies.

[ci-depends-on https://github.com/sofa-framework/SofaGLFW/pull/296]
[ci-depends-on https://github.com/sofa-framework/SofaPython3/pull/635]
[ci-depends-on https://github.com/sofa-framework/BeamAdapter/pull/239]
[ci-depends-on https://github.com/SofaDefrost/ModelOrderReduction/pull/181]
[ci-depends-on https://github.com/SofaDefrost/SoftRobots/pull/352]
[ci-depends-on https://github.com/SofaDefrost/SoftRobots.Inverse/pull/90]

By submitting this pull request, I acknowledge that
I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

Reviewers will merge this pull-request only if

it builds with SUCCESS for all platforms on the CI.
it does not generate new warnings.
it does not generate new unit test failures.
it does not generate new scene test failures.
it does not break API compatibility.
it is more than 1 week old (or has fast-merge label).

Replace all occurrences of DAGSimulation with Simulation in test files and application examples as part of the removal of the deprecated Sofa.Simulation.Graph package. - Replace new sofa::simulation::graph::DAGSimulation() with new sofa::simulation::Simulation() in all test files - Replace DAGNode with Node in sofaProjectExample - Update SimpleApi to use Simulation instead of DAGSimulation - Remove includes of DAGSimulation.h Remaining work: remove Sofa.Simulation.Graph package and update CMake dependencies.

sofabot · 2026-08-26T13:13:27Z

[ci-depends-on] detected during build #5.

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Merge or close Apply changes from PR #6261 SofaGLFW#296
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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
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sofabot · 2026-08-26T13:18:24Z

[ci-depends-on] detected during build #7.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
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sofabot · 2026-08-26T13:46:37Z

[ci-depends-on] detected during build #8.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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damienmarchal · 2026-08-26T14:08:27Z

[ci-build][with-scene-tests][with-regression-tests]

sofabot · 2026-08-26T14:08:46Z

[ci-depends-on] detected during build #9.

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Merge or close Apply changes from #6261 SofaPython3#635
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sofabot · 2026-08-27T12:55:44Z

[ci-depends-on] detected during build #10.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
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sofabot · 2026-08-27T12:56:31Z

[ci-depends-on] detected during build #11.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
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sofabot · 2026-08-27T12:57:00Z

[ci-depends-on] detected during build #12.

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Merge or close Apply changes from PR #6261 SofaGLFW#296
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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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sofabot · 2026-08-31T12:59:54Z

[ci-depends-on] detected during build #13.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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sofabot · 2026-09-09T09:26:48Z

[ci-depends-on] detected during build #19.

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Merge or close Apply changes from PR #6261 BeamAdapter#239
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…est (sofa-framework#6267) use EXPECT_DOUBLE_EQ as advised Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

…Matrix (sofa-framework#6268) * use EXPECT_DOUBLE_EQ as advised * increase epsilon in eq testing with zero --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

pixi: Update pixi lockfile Co-authored-by: olivier-roussel <2340432+olivier-roussel@users.noreply.github.com> Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

…hild shared_ptr cycle (sofa-framework#6259) MappingGraph: fix memory leak in from parent/child shared_ptr cycle

* [Playback] Explicit links in ReadState/WriteState * adapt code in CompareState

…-framework#6275) * demonstate that 2x2 and 3x3 selfaliasing invertmatrix are wrong * cache value before using/overwriting them --------- Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>

…Field (sofa-framework#6228) * Add potential energy computation for the LinearSmallStrainFEMForceField * Add potential energy for the CorotationalFEMForceField * Use auto * Factor out displacement compute helper

sofa-framework#6256) Fix out-of-bounds matrix writes in MatrixProjectionMethod

sofabot · 2026-09-09T09:30:44Z

[ci-depends-on] detected during build #20.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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sofabot · 2026-09-09T09:31:59Z

[ci-depends-on] detected during build #21.

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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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sofabot · 2026-09-10T08:53:39Z

[ci-depends-on] detected during build #22.

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Merge or close Apply changes from PR #6261 SofaGLFW#296
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Merge or close Apply changes from #6261 SofaPython3#635
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Merge or close Apply changes from PR #6261 BeamAdapter#239
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Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
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hugtalbot · 2026-09-10T08:56:51Z

+};
+
+/// Singleton oriented API, if needed.
+class SOFA_SIMULATION_CORE_API MainSimulation


Just a remark, we previously said that one file = one class (with both the same name)

alxbilger

Do you agree that in the future we can get rid of the Simulation class?

damienmarchal · 2026-09-10T12:59:06Z

Do you agree that in the future we can get rid of the Simulation class?

Well, I have no special desire to keep it, so I assume this is a yes

And to @hugtalbot yes, given that Simulation and thus MainSimulation should be removed at some point do you want me to do such a thing (as this will imply to change most of the #include<xxx/simulation.h> to #include<xxx/MainSimulation.h>

hugtalbot · 2026-09-10T14:09:19Z

Since the idea is to possibly go towards the removal of the singleton, the rule (one file = one class) might not apply 👍
We set the PR as ready this morning

Thanks for your work @damienmarchal

hugtalbot · 2026-09-10T14:10:07Z

CI seems to fail I just rebased

sofabot · 2026-09-10T14:11:05Z

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damienmarchal added 2 commits August 25, 2026 16:21

Remove DAGSimulation

fb212e9

Remove DAGSimulation.cpp

851ece4

damienmarchal added pr: breaking Change possibly inducing a compilation error pr: refactoring Refactor code labels Aug 25, 2026

fredroy reviewed Aug 26, 2026

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Comment thread Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGSimulation.h Outdated

alxbilger changed the title ~~Remove DAGSimulation~~ [Simulation] Remove DAGSimulation Aug 26, 2026

damienmarchal added 2 commits August 26, 2026 14:23

Add deprecation layer.

5a5b77d

damienmarchal added the pr: status to review To notify reviewers to review this pull-request label Aug 26, 2026

This was referenced Aug 26, 2026

[Sofa.Simulation.Graph] Remove DAGSimulation and DAGNode #5610

Closed

Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181

Open

damienmarchal and others added 2 commits August 27, 2026 14:55

FIXUP broken tests

16c30c8

[LinearSolver] Fix minor typo (sofa-framework#6263)

94f5b73

damienmarchal force-pushed the pr-remove-dagsimulation branch from 5b5d721 to 94f5b73 Compare August 27, 2026 12:56

Merge branch 'master' into pr-remove-dagsimulation

fa4d68b

Merge branch 'master' into pr-remove-dagsimulation

c4c1d82

fredroy and others added 10 commits September 9, 2026 11:29

[Type] UnitTest: use EXPECT_DOUBLE_EQ as advised for Matrix:trace() t…

637c408

…est (sofa-framework#6267) use EXPECT_DOUBLE_EQ as advised Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

[LinearAlgebra] Unittests: increase the epsilon for tests with Sparse…

0180fc8

…Matrix (sofa-framework#6268) * use EXPECT_DOUBLE_EQ as advised * increase epsilon in eq testing with zero --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

[CI] Update pixi lockfile (sofa-framework#6285)

9142f18

pixi: Update pixi lockfile Co-authored-by: olivier-roussel <2340432+olivier-roussel@users.noreply.github.com> Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

[Sofa.Simulation.Core] MappingGraph: fix memory leak in from parent/c…

8d6f5cd

…hild shared_ptr cycle (sofa-framework#6259) MappingGraph: fix memory leak in from parent/child shared_ptr cycle

[Playback] Explicit links in ReadState/WriteState (sofa-framework#6277)

f905ecb

* [Playback] Explicit links in ReadState/WriteState * adapt code in CompareState

[Simulation] Deprecate SceneLoaderPHP (sofa-framework#6265)

67e20fb

[Type] Mat: Fix invertMatrix self-aliasing bug in Mat2x2/Mat3x3 (sofa…

bd2e7d4

…-framework#6275) * demonstate that 2x2 and 3x3 selfaliasing invertmatrix are wrong * cache value before using/overwriting them --------- Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>

[FEM] Implement getPotentialEnergy for Linear & Corotational FEMForce…

79cfe09

…Field (sofa-framework#6228) * Add potential energy computation for the LinearSmallStrainFEMForceField * Add potential energy for the CorotationalFEMForceField * Use auto * Factor out displacement compute helper

[LinearSystem] MatrixProjectionMethod: Fix out-of-bounds matrix writes (

ae23596

sofa-framework#6256) Fix out-of-bounds matrix writes in MatrixProjectionMethod

Add deprecation layer.

101f2c9

damienmarchal force-pushed the pr-remove-dagsimulation branch from 9e2b1e9 to 101f2c9 Compare September 9, 2026 09:30

Merge branch 'master' into pr-remove-dagsimulation

65a4639

damienmarchal added the pr: status to review To notify reviewers to review this pull-request label Sep 9, 2026

Merge branch 'master' into pr-remove-dagsimulation

8e4b160

fredroy approved these changes Sep 10, 2026

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hugtalbot reviewed Sep 10, 2026

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hugtalbot added pr: status ready Approved a pull-request, ready to be squashed and removed pr: status to review To notify reviewers to review this pull-request labels Sep 10, 2026

alxbilger reviewed Sep 10, 2026

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Merge branch 'master' into pr-remove-dagsimulation

535d9ce

hugtalbot added pr: status to review To notify reviewers to review this pull-request and removed pr: status ready Approved a pull-request, ready to be squashed labels Sep 10, 2026

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