Mathematical and Physical Description of the Node Component in Sofa

Methods

{
  "name": "Node",
  "namespace": "sofa::simulation",
  "module": "Sofa.framework.Simulation.Core",
  "include": "sofa/simulation/Node.h",
  "doc": "Implements the object (component) management of the core::Context.\n   Contains objects in lists and provides accessors.\n   The other nodes are not visible (unknown scene graph).\n   @author The SOFA team </www.sofa-framework.org>",
  "inherits": [
    "BaseNode",
    "Context"
  ],
  "templates": [],
  "data_fields": [],
  "links": [],
  "methods": [
    {
      "name": "parse",
      "return_type": "void",
      "params": [
        {
          "name": "arg",
          "type": "sofa::core::objectmodel::BaseObjectDescription *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "init",
      "return_type": "void",
      "params": [
        {
          "name": "params",
          "type": "const sofa::core::ExecParams *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "isInitialized",
      "return_type": "bool",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "reinit",
      "return_type": "void",
      "params": [
        {
          "name": "params",
          "type": "const sofa::core::ExecParams *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "draw",
      "return_type": "void",
      "params": [
        {
          "name": "params",
          "type": "sofa::core::visual::VisualParams *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "executeVisitor",
      "return_type": "void",
      "params": [
        {
          "name": "action",
          "type": "Visitor *"
        },
        {
          "name": "precomputedOrder",
          "type": "bool"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "execute",
      "return_type": "void",
      "params": [
        {
          "name": "action",
          "type": "Visitor &"
        },
        {
          "name": "precomputedOrder",
          "type": "bool"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "execute",
      "return_type": "void",
      "params": [
        {
          "name": "p",
          "type": "Visitor *"
        },
        {
          "name": "precomputedOrder",
          "type": "bool"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "execute",
      "return_type": "void",
      "params": [
        {
          "name": "params",
          "type": "const Params *"
        },
        {
          "name": "precomputedOrder",
          "type": "bool"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "execute",
      "return_type": "void",
      "params": [
        {
          "name": "vparams",
          "type": "sofa::core::visual::VisualParams *"
        },
        {
          "name": "precomputedOrder",
          "type": "bool"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "precomputeTraversalOrder",
      "return_type": "void",
      "params": [
        {
          "name": "",
          "type": "const sofa::core::ExecParams *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "addChild",
      "return_type": "void",
      "params": [
        {
          "name": "node",
          "type": "int"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "removeChild",
      "return_type": "void",
      "params": [
        {
          "name": "node",
          "type": "int"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "moveChild",
      "return_type": "void",
      "params": [
        {
          "name": "node",
          "type": "int"
        },
        {
          "name": "prev_parent",
          "type": "int"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "addObject",
      "return_type": "bool",
      "params": [
        {
          "name": "obj",
          "type": "int"
        },
        {
          "name": "insertionLocation",
          "type": "sofa::core::objectmodel::TypeOfInsertion"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "removeObject",
      "return_type": "bool",
      "params": [
        {
          "name": "obj",
          "type": "int"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "moveObject",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "int"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getObject",
      "return_type": "sofa::core::objectmodel::BaseObject *",
      "params": [
        {
          "name": "name",
          "type": "const int &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "findLinkDestClass",
      "return_type": "Base *",
      "params": [
        {
          "name": "destType",
          "type": "const sofa::core::objectmodel::BaseClass *"
        },
        {
          "name": "path",
          "type": "const int &"
        },
        {
          "name": "link",
          "type": "const sofa::core::objectmodel::BaseLink *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getObject",
      "return_type": "void *",
      "params": [
        {
          "name": "class_info",
          "type": "const sofa::core::objectmodel::ClassInfo &"
        },
        {
          "name": "dir",
          "type": "SearchDirection"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getObjects",
      "return_type": "void",
      "params": [
        {
          "name": "class_info",
          "type": "const sofa::core::objectmodel::ClassInfo &"
        },
        {
          "name": "container",
          "type": "GetObjectsCallBack &"
        },
        {
          "name": "dir",
          "type": "SearchDirection"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getLocalObjects",
      "return_type": "void",
      "params": [
        {
          "name": "class_info",
          "type": "const sofa::core::objectmodel::ClassInfo &"
        },
        {
          "name": "container",
          "type": "Node::GetObjectsCallBack &"
        },
        {
          "name": "tags",
          "type": "const sofa::core::objectmodel::TagSet &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNodeObjects",
      "return_type": "void",
      "params": [
        {
          "name": "list",
          "type": "Container *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNodeObjects",
      "return_type": "Container &",
      "params": [
        {
          "name": "result",
          "type": "Container &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNodeObjects",
      "return_type": "int",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNodeObject",
      "return_type": "void",
      "params": [
        {
          "name": "result",
          "type": "Object *&"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNodeObject",
      "return_type": "Object *",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTreeObjects",
      "return_type": "void",
      "params": [
        {
          "name": "list",
          "type": "Container *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTreeObjects",
      "return_type": "Container &",
      "params": [
        {
          "name": "result",
          "type": "Container &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTreeObjects",
      "return_type": "int",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTreeObject",
      "return_type": "void",
      "params": [
        {
          "name": "result",
          "type": "Object *&"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTreeObject",
      "return_type": "Object *",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTopology",
      "return_type": "sofa::core::topology::Topology *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getState",
      "return_type": "sofa::core::BaseState *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getMechanicalState",
      "return_type": "sofa::core::behavior::BaseMechanicalState *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getShader",
      "return_type": "sofa::core::visual::Shader *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getShader",
      "return_type": "sofa::core::visual::Shader *",
      "params": [
        {
          "name": "t",
          "type": "const sofa::core::objectmodel::TagSet &"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getAnimationLoop",
      "return_type": "sofa::core::behavior::BaseAnimationLoop *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getOdeSolver",
      "return_type": "sofa::core::behavior::OdeSolver *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getCollisionPipeline",
      "return_type": "sofa::core::collision::Pipeline *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getVisualLoop",
      "return_type": "sofa::core::visual::VisualLoop *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "removeControllers",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getChild",
      "return_type": "Node *",
      "params": [
        {
          "name": "name",
          "type": "const int &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getTreeNode",
      "return_type": "Node *",
      "params": [
        {
          "name": "name",
          "type": "const int &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNodeInGraph",
      "return_type": "Node *",
      "params": [
        {
          "name": "absolutePath",
          "type": "const int &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getChildren",
      "return_type": "Children",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getRootContext",
      "return_type": "BaseContext *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "setDebug",
      "return_type": "Node *",
      "params": [
        {
          "name": "",
          "type": "bool"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getDebug",
      "return_type": "bool",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "printComponents",
      "return_type": "void",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getContext",
      "return_type": "const BaseContext *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "updateContext",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "updateSimulationContext",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "initVisualContext",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "propagateEvent",
      "return_type": "void",
      "params": [
        {
          "name": "params",
          "type": "const sofa::core::ExecParams *"
        },
        {
          "name": "event",
          "type": "sofa::core::objectmodel::Event *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "updateVisualContext",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "initialize",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "setDefaultVisualContextValue",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "setSleeping",
      "return_type": "void",
      "params": [
        {
          "name": "val",
          "type": "bool"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "addListener",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "MutationListener *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "removeListener",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "MutationListener *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "GetCustomClassName",
      "return_type": "const int",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": true,
      "access": "public"
    },
    {
      "name": "createChild",
      "return_type": "int",
      "params": [
        {
          "name": "nodeName",
          "type": "const int &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "detachFromGraph",
      "return_type": "void",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getParents",
      "return_type": "Parents",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getNbParents",
      "return_type": "int",
      "params": [],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getFirstParent",
      "return_type": "BaseNode *",
      "params": [],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "hasParent",
      "return_type": "bool",
      "params": [
        {
          "name": "node",
          "type": "const BaseNode *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "hasParent",
      "return_type": "bool",
      "params": [
        {
          "name": "context",
          "type": "const BaseContext *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "hasAncestor",
      "return_type": "bool",
      "params": [
        {
          "name": "node",
          "type": "const BaseNode *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "hasAncestor",
      "return_type": "bool",
      "params": [
        {
          "name": "context",
          "type": "const BaseContext *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getObject",
      "return_type": "void *",
      "params": [
        {
          "name": "class_info",
          "type": "const sofa::core::objectmodel::ClassInfo &"
        },
        {
          "name": "tags",
          "type": "const sofa::core::objectmodel::TagSet &"
        },
        {
          "name": "dir",
          "type": "SearchDirection"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getObject",
      "return_type": "void *",
      "params": [
        {
          "name": "class_info",
          "type": "const sofa::core::objectmodel::ClassInfo &"
        },
        {
          "name": "path",
          "type": "const int &"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getObjects",
      "return_type": "void",
      "params": [
        {
          "name": "class_info",
          "type": "const sofa::core::objectmodel::ClassInfo &"
        },
        {
          "name": "container",
          "type": "GetObjectsCallBack &"
        },
        {
          "name": "tags",
          "type": "const sofa::core::objectmodel::TagSet &"
        },
        {
          "name": "dir",
          "type": "SearchDirection"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "getMeshTopologyLink",
      "return_type": "sofa::core::topology::BaseMeshTopology *",
      "params": [
        {
          "name": "dir",
          "type": "SearchDirection"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "moveChild",
      "return_type": "void",
      "params": [
        {
          "name": "node",
          "type": "int"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "findCommonParent",
      "return_type": "Node *",
      "params": [
        {
          "name": "node2",
          "type": "simulation::Node *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "doAddObject",
      "return_type": "bool",
      "params": [
        {
          "name": "obj",
          "type": "int"
        },
        {
          "name": "insertionLocation",
          "type": "sofa::core::objectmodel::TypeOfInsertion"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "doRemoveObject",
      "return_type": "bool",
      "params": [
        {
          "name": "obj",
          "type": "int"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "doMoveObject",
      "return_type": "void",
      "params": [
        {
          "name": "sobj",
          "type": "int"
        },
        {
          "name": "prev_parent",
          "type": "Node *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addAnimationLoop",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseAnimationLoop *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeAnimationLoop",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseAnimationLoop *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addVisualLoop",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::VisualLoop *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeVisualLoop",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::VisualLoop *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addBehaviorModel",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BehaviorModel *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeBehaviorModel",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BehaviorModel *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addMapping",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BaseMapping *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeMapping",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BaseMapping *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addOdeSolver",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::OdeSolver *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeOdeSolver",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::OdeSolver *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addConstraintSolver",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::ConstraintSolver *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeConstraintSolver",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::ConstraintSolver *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addLinearSolver",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseLinearSolver *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeLinearSolver",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseLinearSolver *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addTopology",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::topology::Topology *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeTopology",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::topology::Topology *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addMeshTopology",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::topology::BaseMeshTopology *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeMeshTopology",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::topology::BaseMeshTopology *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addTopologyObject",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::topology::BaseTopologyObject *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeTopologyObject",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::topology::BaseTopologyObject *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addState",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BaseState *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeState",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BaseState *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addMechanicalState",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseMechanicalState *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeMechanicalState",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseMechanicalState *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addMechanicalMapping",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BaseMapping *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeMechanicalMapping",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::BaseMapping *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addMass",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseMass *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeMass",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseMass *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addForceField",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseForceField *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeForceField",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseForceField *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addInteractionForceField",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseInteractionForceField *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeInteractionForceField",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseInteractionForceField *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addProjectiveConstraintSet",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseProjectiveConstraintSet *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeProjectiveConstraintSet",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseProjectiveConstraintSet *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addConstraintSet",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseConstraintSet *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeConstraintSet",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::behavior::BaseConstraintSet *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addContextObject",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::objectmodel::ContextObject *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeContextObject",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::objectmodel::ContextObject *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addConfigurationSetting",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::objectmodel::ConfigurationSetting *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeConfigurationSetting",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::objectmodel::ConfigurationSetting *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addShader",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::Shader *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeShader",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::Shader *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addVisualModel",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::VisualModel *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeVisualModel",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::VisualModel *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addVisualStyle",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::BaseVisualStyle *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeVisualStyle",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::BaseVisualStyle *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addVisualManager",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::VisualManager *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeVisualManager",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::visual::VisualManager *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addCollisionModel",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::CollisionModel *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeCollisionModel",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::CollisionModel *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "addCollisionPipeline",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::collision::Pipeline *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    },
    {
      "name": "removeCollisionPipeline",
      "return_type": "void",
      "params": [
        {
          "name": "obj",
          "type": "sofa::core::collision::Pipeline *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    }
  ],
  "description": "The Node class in SofaPython.Simulation represents a node in the scene graph of the Sofa simulation framework. It is derived from BaseNode, which itself inherits from MultiLink and TopologyListener classes. This indicates that each Node can have multiple parents (MultiLink inheritance) and it can listen to topology changes (TopologyListener inheritance).\n\nKey functionalities and attributes of the Node class include:\n\n1. **Hierarchical Structure**: Nodes form a hierarchical structure where each node can contain child nodes, creating a tree-like scene graph. This hierarchy is crucial for organizing simulation elements.\n\n2. **Component Management**: A Node can hold various components such as force fields, behaviors, mappings, constraints, solvers, and topologies which define how the simulation behaves physically. The class provides methods to add or remove these components into specific sequences (BehaviorModel sequence, ForceField sequence, etc.), ensuring they are processed in a defined order.\n\n3. **Traversal**: The Node supports different types of traversal such as bottom-up, top-down, and tree traversal for executing actions over the entire scene graph. These traversals can be customized with precomputed orders, enabling efficient simulation processes.\n\n4. **Event Notification**: Events related to the addition or removal of children nodes or objects are handled through virtual methods like `notifyBeginAddChild`, `notifyEndRemoveObject`. This enables custom behaviors in response to changes within the scene graph.\n\n5. **Debugging and Initialization**: The Node supports a debug mode, and it can be initialized with specific contexts. Methods such as `initializeContexts` and `setDebugMode` facilitate this initialization and debugging process.\n\n6. **Customization Hooks**: Users or developers can override methods for adding special components directly into the right sequence (like behaviors, mappings) to customize simulation behavior according to their needs.\n\nOverall, Node is a fundamental element in setting up simulations within Sofa, providing both structural organization through its hierarchical nature and functional flexibility via component management and traversal mechanisms.",
  "summary": "The Node class represents nodes in Sofa's scene graph, managing hierarchy, components like force fields and behaviors, enabling various traversals for simulation processes, supporting customization hooks, and offering debugging features.",
  "maths": "# Mathematical and Physical Description of the Node Component in Sofa\n\n## Overview\nThe **Node** class in the **Sofa framework** is a fundamental element used to organize and manage hierarchical components within a simulation scene. A Node can contain other Nodes (child nodes), forming a tree-like structure that represents the hierarchy of elements in the simulation.\n\nNodes are central for managing various aspects such as object containment, component organization, event propagation, and traversal algorithms necessary for efficient simulation execution.\n\n## Hierarchical Structure\nA **Node** forms part of a hierarchical scene graph. The hierarchical nature allows components (such as force fields, mappings, constraints) to be organized in a structured manner within the Node or its child nodes. This hierarchy is crucial for organizing complex simulations and provides an intuitive way to manage the simulation elements.\n\n### Hierarchical Components\n- **BehaviorModel**: Manages behaviors such as mechanical properties of objects.\n- **ForceField**: Contains components that apply forces on objects, like gravity, spring force, etc.\n- **Mappings**: Used for transferring properties or data between different objects in the scene graph.\n- **Constraints**: Define conditions or restrictions applied to objects.\n\n## Traversal Mechanisms\nNodes support various types of traversal methods:\n- **Top-down Traversal**: Processes nodes from the root down through all child nodes recursively.\n- **Bottom-up Traversal**: Processes nodes starting from leaves and moving up towards the root node.\n- **Tree Traversal**: Custom tree-traversal logic for visiting nodes in a predefined order, which is useful for simulation algorithms that need to process components in a specific sequence.\n\n### Precomputed Traversals\nTraversal orders can be precomputed, allowing optimization by storing traversal sequences. This is particularly beneficial when the scene graph structure remains relatively stable and the same traversal order is reused across multiple simulation steps.\n\n## Context Management\nNodes manage context information that propagates down through the hierarchy. Contexts store state data (like gravity, time step) which are updated during initialization or runtime to reflect changes in the simulation parameters.\n\n### Initialization of Contexts\n- **initVisualContext()**: Called during initialization to propagate visual contexts from parents to children nodes.\n- **setDefaultVisualContextValue()**: Sets default values for visual context after initialization.\n\n## Component Management\nNodes maintain sequences (lists) of various components, ensuring that each component type is processed in the correct order. This is achieved through methods like `addBehaviorModel`, `addForceField`, etc., which add specific types to their respective lists.\n\n### Adding and Removing Components\n- **Adding a Component**: The `addObject` method adds objects (components) into the Node's component sequences, such as behavior models or force fields. This helps in organizing components into meaningful groups for simulation execution.\n- **Removing a Component**: Similarly, the `removeObject` method removes an object from its sequence within the Node.\n\n## Event Notification Mechanisms\nNodes have event notification mechanisms to handle changes:\n- **Notification Methods**: Methods like `notifyBeginAddChild`, `notifyEndRemoveObject` are used to notify about events such as adding or removing children nodes and objects. This enables customization of behavior in response to these changes within the scene graph.\n\n## Debugging Capabilities\nThe Node class supports debug mode, allowing for enhanced diagnostics during simulation setup:\n- **Debug Mode**: The `setDebug` method can be used to enable debugging information outputting useful messages or warnings related to node operations and configurations.\n\n### Customization Hooks\nUsers or developers have the flexibility to override methods like adding components directly into specific sequences (BehaviorModel, Mappings) for customization of simulation behavior based on their needs. This extensibility ensures that the Node class can adapt to various use cases within the Sofa framework.",
  "abstract": "Manages hierarchical components in the SOFA simulation scene graph, supporting object containment, event propagation, and efficient traversal algorithms.",
  "sheet": "# Node\n\n## Overview\nThe `Node` class is a fundamental element of the SOFA framework's scene graph architecture. It manages hierarchical components such as force fields, mappings, constraints, and behaviors, ensuring they are organized and processed efficiently during simulation.\n\n## Dependencies and Connections\nNodes form a tree-like structure where each node can contain child nodes and various simulation components (force fields, mappings, constraints). Nodes interact with other SOFA components through methods like `addObject`, `removeObject`, and traversal mechanisms (`executeVisitor`). The scene graph hierarchy is crucial for organizing complex simulations and managing event propagation."
}