[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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Merge or close Apply changes from PR #6261 SofaDefrost/ModelOrderReduction#181
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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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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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sofabot · 2026-08-27T12:55:44Z

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

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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/ModelOrderReduction#181
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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/ModelOrderReduction#181
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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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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 · 2026-08-31T12:59:54Z

[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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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

[ci-depends-on] detected during build #23.

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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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…tion

sofabot · 2026-09-14T12:41:37Z

[ci-depends-on] detected during build #24.

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sofabot · 2026-09-15T09:49:57Z

[ci-depends-on] detected during build #25.

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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 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='8b7c7035e026f96babb8790099d2a68a2ff5cc64'
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 · 2026-09-15T10:58:35Z

@hugtalbot it is passing now.

sofabot · 2026-09-15T11:43:21Z

[ci-depends-on] detected during build #26.

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='e2b93d6cbddb40b555ec075f7641b1ba27c58b31'
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='327fc7a0786f414b2f9768f5cddfdb2ecfdd1d42'
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='8b7c7035e026f96babb8790099d2a68a2ff5cc64'
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 · 2026-09-15T11:48:00Z

[ci-depends-on] detected during build #27.

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='e2b93d6cbddb40b555ec075f7641b1ba27c58b31'
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='327fc7a0786f414b2f9768f5cddfdb2ecfdd1d42'
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='8b7c7035e026f96babb8790099d2a68a2ff5cc64'
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 · 2026-09-17T07:33:34Z

[ci-depends-on] detected during build #28.

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='e2b93d6cbddb40b555ec075f7641b1ba27c58b31'
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='327fc7a0786f414b2f9768f5cddfdb2ecfdd1d42'
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='8b7c7035e026f96babb8790099d2a68a2ff5cc64'
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 · 2026-09-17T17:23:29Z

[ci-depends-on] detected during build #29.

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='e2b93d6cbddb40b555ec075f7641b1ba27c58b31'
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='327fc7a0786f414b2f9768f5cddfdb2ecfdd1d42'
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='8b7c7035e026f96babb8790099d2a68a2ff5cc64'
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 · 2026-09-18T08:31:30Z

[ci-depends-on] detected during build #30.

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='e2b93d6cbddb40b555ec075f7641b1ba27c58b31'
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='327fc7a0786f414b2f9768f5cddfdb2ecfdd1d42'
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='8b7c7035e026f96babb8790099d2a68a2ff5cc64'
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'

hugtalbot · 2026-09-18T12:00:39Z

[ci-build]

sofabot · 2026-09-18T12:01:02Z

[ci-depends-on] detected during build #31.

All dependencies are merged/closed. Congrats! 👍

sofabot · 2026-09-18T12:49:33Z

[ci-depends-on] detected during build #32.

All dependencies are merged/closed. Congrats! 👍

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

View reviewed changes

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

Merged

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

alxbilger reviewed Sep 10, 2026

View reviewed changes

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

damienmarchal added 2 commits September 14, 2026 14:38

Merge remote-tracking branch 'origin/master' into pr-remove-dagsimula…

2b5c5f2

…tion

FIXUP and merge changes from origin/master

585e7f2

FIX Link error on windows

ad2722c

Improve compatibility layer.

91e94f0

FIXUP Improve compat layer.

f5aba2a

Merge branch 'master' into pr-remove-dagsimulation

fe8b89f

th-skam 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 17, 2026

Merge branch 'master' into pr-remove-dagsimulation

5f6b550

Merge branch 'master' into pr-remove-dagsimulation

94555d5

hugtalbot merged commit aa7cf2c into sofa-framework:master Sep 18, 2026
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