sofa-framework · damienmarchal · Jun 27, 2025 · Jun 27, 2025 · Jun 27, 2025 · Jun 27, 2025
diff --git a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp
@@ -34,9 +34,6 @@ using sofa::core::objectmodel::BaseObject ;
 #include <sofa/component/collision/detection/algorithm/CollisionPipeline.h>
 using sofa::component::collision::detection::algorithm::CollisionPipeline ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
-
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 

diff --git a/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp b/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp
@@ -29,8 +29,7 @@ using std::string;
 #include <sofa/testing/BaseSimulationTest.h>
 using sofa::testing::BaseSimulationTest;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Node ;
 
 #include <sofa/simulation/common/SceneLoaderXML.h>

diff --git a/Sofa/Component/Engine/Analyze/tests/AverageCoord_test.cpp b/Sofa/Component/Engine/Analyze/tests/AverageCoord_test.cpp
@@ -27,12 +27,11 @@ using sofa::testing::BaseSimulationTest;
 #include <sofa/component/statecontainer/MechanicalObject.h>
 using sofa::component::statecontainer::MechanicalObject ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/analyze/AverageCoord.h>
 using sofa::component::engine::analyze::AverageCoord ;

diff --git a/Sofa/Component/Engine/Analyze/tests/ClusteringEngine_test.cpp b/Sofa/Component/Engine/Analyze/tests/ClusteringEngine_test.cpp
@@ -26,12 +26,11 @@ using sofa::testing::BaseSimulationTest;
 #include <sofa/component/statecontainer/MechanicalObject.h>
 using sofa::component::statecontainer::MechanicalObject ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/core/visual/VisualParams.h>
 using sofa::core::visual::VisualParams;

diff --git a/Sofa/Component/Engine/Generate/tests/ExtrudeEdgesAndGenerateQuads_test.cpp b/Sofa/Component/Engine/Generate/tests/ExtrudeEdgesAndGenerateQuads_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/generate/ExtrudeEdgesAndGenerateQuads.h>
 using sofa::component::engine::generate::ExtrudeEdgesAndGenerateQuads ;

diff --git a/Sofa/Component/Engine/Generate/tests/MergePoints_test.cpp b/Sofa/Component/Engine/Generate/tests/MergePoints_test.cpp
@@ -22,8 +22,7 @@
 #include <sofa/testing/BaseSimulationTest.h>
 using sofa::testing::BaseSimulationTest;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation;
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::core::objectmodel::New ;
 

diff --git a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp
@@ -37,9 +37,8 @@ using sofa::core::objectmodel::ComponentState;
 #include <sofa/component/engine/select/BoxROI.inl>
 using sofa::component::engine::select::BoxROI;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation;
-using sofa::simulation::graph::DAGSimulation;
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node;
 using sofa::core::objectmodel::BaseObject;

diff --git a/Sofa/Component/Engine/Select/tests/ComplementaryROI_test.cpp b/Sofa/Component/Engine/Select/tests/ComplementaryROI_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/core/visual/VisualParams.h>
 using sofa::core::visual::VisualParams;

diff --git a/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp b/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/select/MeshROI.inl>
 using sofa::component::engine::select::MeshROI ;

diff --git a/Sofa/Component/Engine/Select/tests/PlaneROI_test.cpp b/Sofa/Component/Engine/Select/tests/PlaneROI_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/select/PlaneROI.h>
 using sofa::component::engine::select::PlaneROI ;

diff --git a/Sofa/Component/Engine/Select/tests/SphereROI_test.cpp b/Sofa/Component/Engine/Select/tests/SphereROI_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/select/SphereROI.inl>
 using sofa::component::engine::select::SphereROI ;

diff --git a/Sofa/Component/Engine/Transform/tests/DifferenceEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/DifferenceEngine_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/core/visual/VisualParams.h>
 using sofa::core::visual::VisualParams;

diff --git a/Sofa/Component/Engine/Transform/tests/DilateEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/DilateEngine_test.cpp
@@ -25,12 +25,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/transform/DilateEngine.h>
 using sofa::component::engine::transform::DilateEngine ;

diff --git a/Sofa/Component/Engine/Transform/tests/SmoothMeshEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/SmoothMeshEngine_test.cpp
@@ -24,12 +24,11 @@ using sofa::testing::BaseSimulationTest;
 
 #include <sofa/helper/BackTrace.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
-using sofa::simulation::graph::DAGSimulation;
 
 #include <sofa/component/engine/transform/SmoothMeshEngine.h>
 using sofa::component::engine::transform::SmoothMeshEngine ;

diff --git a/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp
@@ -33,9 +33,6 @@ using sofa::testing::BaseSimulationTest;
 #include<sofa/core/objectmodel/BaseObject.h>
 using sofa::core::objectmodel::BaseObject ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
-
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 

diff --git a/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp
@@ -31,9 +31,6 @@ using sofa::testing::BaseSimulationTest;
 #include<sofa/core/objectmodel/BaseObject.h>
 using sofa::core::objectmodel::BaseObject ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
-
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 

diff --git a/Sofa/Component/IO/Mesh/tests/VisualModelOBJExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/VisualModelOBJExporter_test.cpp
@@ -31,9 +31,6 @@ using sofa::testing::BaseSimulationTest;
 #include<sofa/core/objectmodel/BaseObject.h>
 using sofa::core::objectmodel::BaseObject ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
-
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 

diff --git a/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp b/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp
@@ -34,22 +34,19 @@ using sofa::core::topology::BaseMeshTopology;
 #include <sofa/testing/BaseTest.h>
 using sofa::testing::BaseTest;
 
-
 using sofa::type::Vec3;
 using sofa::type::Vec3u;
 using sofa::core::objectmodel::New;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation;
+#include <sofa/simulation/Simulation.h>
+#include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
 
 #include <sofa/component/statecontainer/MechanicalObject.h>
 using sofa::component::statecontainer::MechanicalObject ;
 
-#include <sofa/simulation/Node.h>
-
 using sofa::defaulttype::Vec3Types;
 
 template <class In, class Out>

diff --git a/Sofa/Component/Mapping/Linear/tests/DistanceToPlaneMapping_test.cpp b/Sofa/Component/Mapping/Linear/tests/DistanceToPlaneMapping_test.cpp
@@ -28,9 +28,7 @@
 #include "sofa/core/MechanicalParams.h"
 using sofa::testing::BaseTest;
 
-
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation;
+#include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
@@ -53,13 +51,9 @@ class PlaneMappingTest : public testing::Test
     typedef sofa::type::Vec<sofa::Deriv_t<DataType>::spatial_dimensions,typename sofa::Deriv_t<DataType>::value_type> PlaneNormalType;
     typedef sofa::type::Vec<sofa::Coord_t<DataType>::spatial_dimensions,typename sofa::Coord_t<DataType>::value_type> PlanePointType;
 public:
-    sofa::simulation::Simulation* createSimpleScene(typename sofa::component::mapping::linear::DistanceToPlaneMapping<DataType>::SPtr mapping)
+    Node::SPtr createSimpleScene(typename sofa::component::mapping::linear::DistanceToPlaneMapping<DataType>::SPtr mapping)
     {
-
-
-        sofa::simulation::Simulation* simu = sofa::simulation::getSimulation();
-
-        const Node::SPtr node = simu->createNewGraph("root");
+        const Node::SPtr node = sofa::simulation::node::createNewNode("root");
 
         typename MechanicalObject<DataType>::SPtr mechanical = New<MechanicalObject<DataType>>();
         mechanical->resize(10);
@@ -80,7 +74,7 @@ class PlaneMappingTest : public testing::Test
         EXPECT_NO_THROW(
             sofa::simulation::node::initRoot(node.get())
         );
-        return simu;
+        return node;
     }
 
     PlaneNormalType getPseudoRandomNormal()

diff --git a/Sofa/Component/Mass/tests/UniformMass_test.cpp b/Sofa/Component/Mass/tests/UniformMass_test.cpp
@@ -30,10 +30,7 @@ using namespace sofa::defaulttype ;
 using sofa::component::mass::UniformMass ;
 
 #include <sofa/simpleapi/SimpleApi.h>
-
-#include <sofa/simulation/graph/DAGSimulation.h>
 using sofa::simulation::Simulation ;
-using sofa::simulation::graph::DAGSimulation ;
 
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node;

diff --git a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp
@@ -23,9 +23,8 @@
 #include <sofa/testing/BaseSimulationTest.h>
 using sofa::testing::BaseSimulationTest;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/simulation/Simulation.h>
 using sofa::simulation::Simulation ;
-using sofa::simulation::graph::DAGSimulation ;
 using sofa::simulation::Node ;
 using sofa::core::objectmodel::BaseObject ;
 using sofa::core::objectmodel::BaseData ;
@@ -69,8 +68,6 @@ using sofa::component::linearsolver::GraphScatteredMatrix ;
 using sofa::component::linearsolver::GraphScatteredVector ;
 using sofa::component::linearsolver::iterative::CGLinearSolver ;
 
-using sofa::simulation::graph::DAGSimulation ;
-
 using sofa::component::mass::UniformMass ;
 using sofa::component::mechanicalload::PlaneForceField ;
 

diff --git a/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp b/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp
@@ -22,7 +22,6 @@
 #include <sofa/testing/BaseTest.h>
 #include <sofa/simulation/Node.h>
 #include <sofa/component/odesolver/backward/StaticSolver.h>
-#include <sofa/simulation/graph/DAGSimulation.h>
 #include <sofa/simpleapi/SimpleApi.h>
 
 #include <vector>
@@ -32,7 +31,6 @@ using namespace sofa::simulation;
 using namespace sofa::simpleapi;
 using namespace sofa::helper::logging;
 
-using sofa::simulation::graph::DAGSimulation;
 using sofa::component::odesolver::backward::StaticSolver;
 
 static constexpr SReal poissonRatio = 0;

diff --git a/Sofa/Component/SceneUtility/tests/MessageHandlerComponent_test.cpp b/Sofa/Component/SceneUtility/tests/MessageHandlerComponent_test.cpp
@@ -27,9 +27,6 @@ using std::string ;
 #include <sofa/testing/BaseTest.h>
 #include <sofa/testing/TestMessageHandler.h>
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
-
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
 

diff --git a/Sofa/framework/Core/src/sofa/core/fwd.h b/Sofa/framework/Core/src/sofa/core/fwd.h
@@ -73,6 +73,7 @@ namespace sofa::core::objectmodel
 {
 class Base;
 class BaseObject;
+class BaseObjectDescription;
 class BaseNode;
 class BaseContext;
 class BaseData;

diff --git a/Sofa/framework/SimpleApi/src/sofa/simpleapi/SimpleApi.cpp b/Sofa/framework/SimpleApi/src/sofa/simpleapi/SimpleApi.cpp
@@ -26,9 +26,6 @@
 #include <sofa/core/ObjectFactory.h>
 using sofa::core::ObjectFactory ;
 
-#include <sofa/simulation/graph/DAGSimulation.h>
-using sofa::simulation::graph::DAGSimulation ;
-
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node;
 using sofa::core::objectmodel::BaseObjectDescription ;
@@ -60,15 +57,15 @@ void dumpScene(Node::SPtr root)
     p.execute(root.get()) ;
 }
 
-Simulation::SPtr createSimulation(const std::string& type)
+SimulationSPtr createSimulation(const std::string& type)
 {
     if(type!="DAG")
     {
         msg_error("SimpleApi") << "Unable to create simulation of type '"<<type<<"'. Supported type is ['DAG']";
         return nullptr ;
     }
 
-    return std::make_shared<simulation::graph::DAGSimulation>();
+    return std::make_shared<simulation::Simulation>();
 }
 
 

diff --git a/Sofa/framework/SimpleApi/src/sofa/simpleapi/SimpleApi.h b/Sofa/framework/SimpleApi/src/sofa/simpleapi/SimpleApi.h
@@ -22,7 +22,6 @@
 #pragma once
 
 #include <sofa/simpleapi/config.h>
-
 #include <sofa/simulation/Simulation.h>
 #include <sofa/simulation/fwd.h>
 
@@ -36,15 +35,16 @@ namespace sofa::simpleapi
 using sofa::core::objectmodel::BaseObject;
 using sofa::core::objectmodel::BaseObjectDescription;
 
-using sofa::simulation::Simulation ;
+using sofa::simulation::Simulation;
+using sofa::simulation::SimulationSPtr ;
 using sofa::simulation::Node ;
 using sofa::simulation::NodeSPtr ;
 
 bool SOFA_SIMPLEAPI_API importPlugin(const std::string& name) ;
 
-Simulation::SPtr SOFA_SIMPLEAPI_API createSimulation(const std::string& type="DAG") ;
+SimulationSPtr SOFA_SIMPLEAPI_API createSimulation(const std::string& type="DAG") ;
 
-NodeSPtr SOFA_SIMPLEAPI_API createRootNode( Simulation::SPtr, const std::string& name,
+NodeSPtr SOFA_SIMPLEAPI_API createRootNode( SimulationSPtr, const std::string& name,
     const std::map<std::string, std::string>& params = std::map<std::string, std::string>{} );
 
 NodeSPtr SOFA_SIMPLEAPI_API createRootNode( Simulation* s, const std::string& name,