I like to be able to do full mashes in one vessel, but I know that some folks will do a concentrated mash and simply add water to the wort for the boil. I also know that some RIMS arrangements use 2 vessels for the mash - one with the grain and another that is being heated and returned to the one with the grain by pump. You balance the flow and return, such that about half of the wort is in each vessel (and return lines) at each point in time, until running off into the boil vessel. (I think the Blichmann approach is the version I have seen emulated - Blichmann calls it the Brew Easy, I think and the RIMS approach in that setting as K RIMS (Kettle RIMS).