[Sofa.Simulation.Graph] Remove DAGSimulation and DAGNode

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceDetection.h

@@ -38,7 +38,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BruteForceDetection final
 
     /// Construction method called by ObjectFactory.
     template<class T>
-    static typename T::SPtr create(T*, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg)
+    static typename T::SPtr create(T*, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseComponentDescription* arg)
     {
         if (context)
         {

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAP.h

@@ -39,7 +39,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAP final : public
 
     /// Construction method called by ObjectFactory.
     template<class T>
-    static typename T::SPtr create(T*, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg)
+    static typename T::SPtr create(T*, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseComponentDescription* arg)
     {
         if (context)
         {

Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp

@@ -34,9 +34,6 @@ using sofa::core::objectmodel::BaseComponent ;
 #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 ;
 

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>

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h

@@ -143,7 +143,7 @@ public :
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (dynamic_cast<core::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == nullptr)
         {

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.h

@@ -108,7 +108,7 @@ class PointCollisionModel : public core::CollisionModel
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (dynamic_cast<core::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == nullptr)
         {

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.h

@@ -125,7 +125,7 @@ class SphereCollisionModel : public core::CollisionModel
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (dynamic_cast<core::behavior::MechanicalState<TDataTypes>*>(context->getMechanicalState()) == nullptr && context->getMechanicalState() != nullptr)
         {
@@ -138,7 +138,7 @@ class SphereCollisionModel : public core::CollisionModel
     }
 
     template<class T>
-    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         typename T::SPtr obj;
 

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.h

@@ -199,7 +199,7 @@ class TriangleCollisionModel : public core::CollisionModel
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (dynamic_cast<core::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == nullptr)
         {

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h

@@ -45,7 +45,7 @@ public :
     void draw(const core::visual::VisualParams* vparams) override;
 
     template<class T>
-    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         typename T::SPtr obj = sofa::core::objectmodel::New<T>();
         if (context)

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/ContactListener.h

@@ -76,7 +76,7 @@ class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API ContactListener : public vir
     std::vector<std::tuple<unsigned int, unsigned int, unsigned int, unsigned int>> getContactElements() const; // model, id, model, id
 
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         core::CollisionModel* collModel1 = nullptr;
         core::CollisionModel* collModel2 = nullptr;
@@ -108,7 +108,7 @@ class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API ContactListener : public vir
     }
 
     template<class T>
-    static typename T::SPtr create(T* , core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static typename T::SPtr create(T* , core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         core::CollisionModel* collModel1 = nullptr;
         core::CollisionModel* collModel2 = nullptr;

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.cpp

@@ -134,7 +134,7 @@ std::string RuleBasedContactManager::getContactResponse(core::CollisionModel* mo
     return replaceVariables(CollisionResponse::getContactResponse(model1, model2));
 }
 
-void RuleBasedContactManager::parse ( sofa::core::objectmodel::BaseObjectDescription* arg )
+void RuleBasedContactManager::parse ( sofa::core::objectmodel::BaseComponentDescription* arg )
 {
     const char* v = arg->getAttribute(d_variables.getName().c_str());
     if (v)

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.h

@@ -128,7 +128,7 @@ class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API RuleBasedContactManager : pu
 
     void createVariableData ( std::string variable );
 
-    void parse ( sofa::core::objectmodel::BaseObjectDescription* arg ) override;
+    void parse ( sofa::core::objectmodel::BaseComponentDescription* arg ) override;
 
 protected:
     RuleBasedContactManager();

Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h

@@ -126,7 +126,7 @@ class Distances : public core::DataEngine
     /// if they are compatible with the input and output model types of this
     /// mapping.
     template<class T>
-    static bool canCreate ( T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg )
+    static bool canCreate ( T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg )
     {
         bool error = false;
         if (arg->findObject(arg->getAttribute("hexaContainerPath", "../..")) == nullptr)
@@ -158,7 +158,7 @@ class Distances : public core::DataEngine
     /// This implementation read the object1 and object2 attributes to
     /// find the input and output models of this mapping.
     template<class T>
-    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg )
+    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg )
     {
         typename T::SPtr obj = sofa::core::objectmodel::New<T>(
                 ( arg?dynamic_cast<sofa::component::topology::container::dynamic::DynamicSparseGridTopologyContainer*> ( arg->findObject ( arg->getAttribute ( "hexaContainerPath","../.." ) ) ) :nullptr ),

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 ;

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;

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeMeshes.h

@@ -51,7 +51,7 @@ class MergeMeshes : public core::DataEngine
     ~MergeMeshes() override;
 public:
     /// Parse the given description to assign values to this object's fields and potentially other parameters
-    void parse ( sofa::core::objectmodel::BaseObjectDescription* arg ) override;
+    void parse ( sofa::core::objectmodel::BaseComponentDescription* arg ) override;
 
     /// Assign the field values stored in the given map of name -> value pairs
     void parseFields ( const std::map<std::string,std::string*>& str ) override;

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeMeshes.inl

@@ -71,7 +71,7 @@ void MergeMeshes<DataTypes>::createInputMeshesData(int nb)
 
 /// Parse the given description to assign values to this object's fields and potentially other parameters
 template <class DataTypes>
-void MergeMeshes<DataTypes>::parse ( sofa::core::objectmodel::BaseObjectDescription* arg )
+void MergeMeshes<DataTypes>::parse ( sofa::core::objectmodel::BaseComponentDescription* arg )
 {
     const char* p = arg->getAttribute(f_nbMeshes.getName().c_str());
     if (p)

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeVectors.h

@@ -50,7 +50,7 @@ class MergeVectors : public core::DataEngine
 
 public:
     /// Parse the given description to assign values to this object's fields and potentially other parameters
-    void parse( sofa::core::objectmodel::BaseObjectDescription* arg ) override;
+    void parse( sofa::core::objectmodel::BaseComponentDescription* arg ) override;
 
     /// Assign the field values stored in the given map of name -> value pairs
     void parseFields( const std::map<std::string,std::string*>& str ) override;

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MergeVectors.inl

@@ -39,7 +39,7 @@ MergeVectors<VecT>::~MergeVectors()
 }
 
 template <class VecT>
-void MergeVectors<VecT>::parse( sofa::core::objectmodel::BaseObjectDescription* arg )
+void MergeVectors<VecT>::parse( sofa::core::objectmodel::BaseComponentDescription* arg )
 {
     vf_inputs.parseSizeData(arg, f_nbInputs);
     Inherit1::parse(arg);

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.h

@@ -60,7 +60,7 @@ class VolumeFromTetrahedrons : public sofa::core::DataEngine
     ////////////////////////// Inherited from BaseObject ///////////////////
     void init() override;
     void reinit() override;
-    void parse(core::objectmodel::BaseObjectDescription* arg) override;
+    void parse(core::objectmodel::BaseComponentDescription* arg) override;
     ////////////////////////////////////////////////////////////////////////
 
     ////////////////////////// Inherited from DataEngine////////////////////

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl

@@ -51,7 +51,7 @@ VolumeFromTetrahedrons<DataTypes>::VolumeFromTetrahedrons()
 }
 
 template <class DataTypes>
-void VolumeFromTetrahedrons<DataTypes>::parse(core::objectmodel::BaseObjectDescription* arg)
+void VolumeFromTetrahedrons<DataTypes>::parse(core::objectmodel::BaseComponentDescription* arg)
 {
     Inherit1::parse(arg);
 

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.h

@@ -63,7 +63,7 @@ class VolumeFromTriangles : public sofa::core::DataEngine
     ////////////////////////// Inherited from BaseObject ///////////////////
     void init() override;
     void reinit() override;
-    void parse(core::objectmodel::BaseObjectDescription* arg) override;
+    void parse(core::objectmodel::BaseComponentDescription* arg) override;
 
     ////////////////////////////////////////////////////////////////////////
 

Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.inl

@@ -55,7 +55,7 @@ VolumeFromTriangles<DataTypes>::~VolumeFromTriangles()
 }
 
 template <class DataTypes>
-void VolumeFromTriangles<DataTypes>::parse(core::objectmodel::BaseObjectDescription* arg)
+void VolumeFromTriangles<DataTypes>::parse(core::objectmodel::BaseComponentDescription* arg)
 {
     Inherit1::parse(arg);
 

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 ;

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 ;
 

Sofa/Component/Engine/Select/src/sofa/component/engine/select/BoxROI.h

@@ -38,7 +38,7 @@ namespace sofa::component::engine::select::boxroi
 /// It is then import into sofa::component::engine::BoxROI to not break the
 /// API.
 
-    using core::objectmodel::BaseObjectDescription ;
+    using core::objectmodel::BaseComponentDescription ;
     using sofa::core::behavior::MechanicalState ;
     using core::topology::BaseMeshTopology ;
     using core::behavior::MechanicalState ;

Sofa/Component/Engine/Select/src/sofa/component/engine/select/ComplementaryROI.h

@@ -53,7 +53,7 @@ class ComplementaryROI : public core::DataEngine
     void doUpdate() override;
 
     /// Parse the given description to assign values to this object's fields and potentially other parameters
-    void parse ( sofa::core::objectmodel::BaseObjectDescription* arg ) override;
+    void parse ( sofa::core::objectmodel::BaseComponentDescription* arg ) override;
 
     /// Assign the field values stored in the given map of name -> value pairs
     void parseFields ( const std::map<std::string,std::string*>& str ) override;

Sofa/Component/Engine/Select/src/sofa/component/engine/select/ComplementaryROI.inl

@@ -33,7 +33,7 @@ namespace sofa::component::engine::select
 using std::string;
 using std::set;
 using std::map;
-using sofa::core::objectmodel::BaseObjectDescription;
+using sofa::core::objectmodel::BaseComponentDescription;
 
 using helper::ReadAccessor;
 using helper::WriteAccessor;

Sofa/Component/Engine/Select/src/sofa/component/engine/select/MergeROIs.cpp

@@ -44,7 +44,7 @@ void MergeROIs::reinit()
     update();
 }
 
-void MergeROIs::parse ( core::objectmodel::BaseObjectDescription* arg )
+void MergeROIs::parse ( core::objectmodel::BaseComponentDescription* arg )
 {
     f_indices.parseSizeData(arg, d_nbROIs);
     Inherit1::parse(arg);

Sofa/Component/Engine/Select/src/sofa/component/engine/select/MergeROIs.h

@@ -53,7 +53,7 @@ class SOFA_COMPONENT_ENGINE_SELECT_API MergeROIs : public sofa::core::DataEngine
     void reinit() override;
 
     /// Parse the given description to assign values to this object's fields and potentially other parameters
-    void parse ( core::objectmodel::BaseObjectDescription* arg ) override;
+    void parse ( core::objectmodel::BaseComponentDescription* arg ) override;
 
     /// Assign the field values stored in the given map of name -> value pairs
     void parseFields ( const std::map<std::string,std::string*>& str ) override;

Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSplittingEngine.h

@@ -103,7 +103,7 @@ class MeshSplittingEngine : public core::DataEngine
     void reinit()    override { resizeData(); update();  }
 
     /// Parse the given description to assign values to this object's fields and potentially other parameters
-    void parse ( sofa::core::objectmodel::BaseObjectDescription* arg ) override
+    void parse ( sofa::core::objectmodel::BaseComponentDescription* arg ) override
     {
         const char* p = arg->getAttribute(nbInputs.getName().c_str());
         if (p) {

Sofa/Component/Engine/Select/src/sofa/component/engine/select/PairBoxRoi.h

@@ -71,7 +71,7 @@ class PairBoxROI : public core::DataEngine
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (!arg->getAttribute("template"))
         {

Sofa/Component/Engine/Select/src/sofa/component/engine/select/PlaneROI.h

@@ -75,7 +75,7 @@ class PlaneROI : public core::DataEngine
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (!arg->getAttribute("template"))
         {

Sofa/Component/Engine/Select/src/sofa/component/engine/select/ProximityROI.h

@@ -69,7 +69,7 @@ class ProximityROI : public core::DataEngine
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (!arg->getAttribute("template"))
         {

Sofa/Component/Engine/Select/src/sofa/component/engine/select/SelectConnectedLabelsROI.h

@@ -81,7 +81,7 @@ class SelectConnectedLabelsROI : public sofa::core::DataEngine
 
 
     /// Parse the given description to assign values to this object's fields and potentially other parameters
-    void parse ( sofa::core::objectmodel::BaseObjectDescription* arg ) override
+    void parse ( sofa::core::objectmodel::BaseComponentDescription* arg ) override
     {
         d_labels.parseSizeData(arg, d_nbLabels);
         Inherit1::parse(arg);

Sofa/Component/Engine/Select/src/sofa/component/engine/select/SubsetTopology.h

@@ -76,7 +76,7 @@ class SubsetTopology : public core::DataEngine
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (!arg->getAttribute("template"))
         {

Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.h

@@ -73,7 +73,7 @@ class ValuesFromPositions : public core::DataEngine
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.
     template<class T>
-    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
+    static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseComponentDescription* arg)
     {
         if (!arg->getAttribute("template"))
         {

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::BaseComponent;