[Simulation] Remove DAGSimulation - #6261

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damienmarchal wants to merge 7 commits into

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CRIStAL-PADR:pr-remove-dagsimulation

damienmarchal commented Aug 25, 2026 •

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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).

damienmarchal added 2 commits

August 25, 2026 16:21


          Remove DAGSimulation

fb212e9


          Remove DAGSimulation.cpp

851ece4

damienmarchal added pr: breaking pr: refactoring labels

fredroy reviewed

View reviewed changes

Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGSimulation.h Outdated

alxbilger changed the title ~~Remove DAGSimulation~~ [Simulation] Remove DAGSimulation

damienmarchal added 2 commits

August 26, 2026 14:23


          Remove DAGSimulation usage, replace with Simulation

e80bc30

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.


          Add deprecation layer.

5a5b77d

This was referenced Aug 26, 2026

Apply changes from PR #6261 sofa-framework/SofaGLFW#296

Open

Apply changes from #6261 sofa-framework/SofaPython3#635

Open

Apply changes from PR #6261 sofa-framework/BeamAdapter#239

Open

Apply changes from PR #6261 SofaDefrost/SoftRobots#352

Open

Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90

Open

damienmarchal added the pr: status to review label

sofabot commented Aug 26, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'

sofabot commented Aug 26, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'

This was referenced Aug 26, 2026

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

Closed

Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181

Open

sofabot commented Aug 26, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181
For this build, the following CMake flags will be set
-DMODELORDERREDUCTION_GIT_REPOSITORY='https://github.com/SofaDefrost/ModelOrderReduction'
-DMODELORDERREDUCTION_GIT_TAG='148b442f90522e575446198dc47f87d78302adb9'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'

damienmarchal commented Aug 26, 2026

Contributor Author

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

sofabot commented Aug 26, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181
For this build, the following CMake flags will be set
-DMODELORDERREDUCTION_GIT_REPOSITORY='https://github.com/SofaDefrost/ModelOrderReduction'
-DMODELORDERREDUCTION_GIT_TAG='148b442f90522e575446198dc47f87d78302adb9'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'

sofabot commented Aug 27, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181
For this build, the following CMake flags will be set
-DMODELORDERREDUCTION_GIT_REPOSITORY='https://github.com/SofaDefrost/ModelOrderReduction'
-DMODELORDERREDUCTION_GIT_TAG='148b442f90522e575446198dc47f87d78302adb9'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'

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

sofabot commented Aug 27, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181
For this build, the following CMake flags will be set
-DMODELORDERREDUCTION_GIT_REPOSITORY='https://github.com/SofaDefrost/ModelOrderReduction'
-DMODELORDERREDUCTION_GIT_TAG='148b442f90522e575446198dc47f87d78302adb9'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'


          Merge branch 'master' into pr-remove-dagsimulation

fa4d68b

sofabot commented Aug 27, 2026

Collaborator

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

To unlock the merge button, you must

Merge or close Apply changes from PR #6261 SofaGLFW#296
For this build, the following CMake flags will be set
-DSOFAGLFW_GIT_REPOSITORY='https://github.com/sofa-framework/SofaGLFW'
-DSOFAGLFW_GIT_TAG='346033d2bd1f5f4fb2c933013e200ec8265a4b64'
Merge or close Apply changes from #6261 SofaPython3#635
For this build, the following CMake flags will be set
-DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
-DSOFAPYTHON3_GIT_TAG='e666ab73de93602f4b96f4a1bbac45a03f0792f8'
Merge or close Apply changes from PR #6261 BeamAdapter#239
For this build, the following CMake flags will be set
-DBEAMADAPTER_GIT_REPOSITORY='https://github.com/sofa-framework/BeamAdapter'
-DBEAMADAPTER_GIT_TAG='4e3189590230152d746e59e2c0f25fa43c84c704'
Merge or close Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181
For this build, the following CMake flags will be set
-DMODELORDERREDUCTION_GIT_REPOSITORY='https://github.com/SofaDefrost/ModelOrderReduction'
-DMODELORDERREDUCTION_GIT_TAG='148b442f90522e575446198dc47f87d78302adb9'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots#352
For this build, the following CMake flags will be set
-DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
-DSOFTROBOTS_GIT_TAG='200c983b6d33e897875d158fe441f103ef6ccf7c'
Merge or close Apply changes from PR #6261 SofaDefrost/SoftRobots.Inverse#90
For this build, the following CMake flags will be set
-DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
-DSOFTROBOTS_INVERSE_GIT_TAG='b2e8bf3e547c39d982cd5a30de021d05112612d9'

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pr: breaking pr: refactoring pr: status to review