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sofa-framework/sofa

SOFA Documentation

sofa-framework/sofa

Getting Started
Getting Started
- Binaries
  Binaries
  - Binaries instructions
- Build
  Build
  - Linux
  - MacOS
  - Windows
  - Build Options
- Video Tutorials
  Video Tutorials
Using SOFA
Using SOFA
- Lexicography
- runSofa
- runSofa with Qt
- Create your scene in XML
- Create your scene in Cpp
- SOFA-NG migration
- Inspect components
- Interact with the mouse
- Use SOFA in Matlab
- Performances
  Performances
  - Inspect performances
  - Improve performances
Simulation Principles
Simulation Principles
- Scene Graph
- Animation Loop
- Visitors
- MechanicalObject
- Topology
- Engine
- Example-Simple Body
- System Resolution
  System Resolution
  - Integration Scheme
  - Linear Solver
- Multi-Model Representation
  Multi-Model Representation
- Constraint
  Constraint
  - Projective Constraint
  - Lagrange Constraint
Components
Components
- AnimationLoop
  AnimationLoop
- Collision
  Collision
  - Detection
    Detection
    
    Algorithm
    Algorithm
    
    CollisionPipeline
    
    DefaultPipeline
    
    Detection Sweep and Prune
    
    Detection SAP Incremental
    
    BVHNarrowPhase
    
    BruteForceBroadPhase
    
    BruteForceDetection
    
    DirectSAP
    
    DirectSAPNarrowPhase
    
    IncrSAP
    
    RayTraceDetection
    
    RayTraceNarrowPhase
    
    BroadPhases
    BroadPhases
    
    BroadPhase
    
    BruteForceBroadPhase
    
    NarrowPhases
    NarrowPhases
    
    NarrowPhase
    
    BVHNarrowPhase
    
    DirectSAPNarrowPhase
    
    RayTraceNarrowPhase
    
    Intersection
    Intersection
    
    IntersectionMehod
    
    MinProximityIntersection
    
    LocalMinDistance
    
    DiscreteIntersection
    
    NewProximityIntersection
  - Geometry
    Geometry
    
    CollisionModels
    
    CubeCollisionModel
    
    CylinderCollisionModel
    
    LineCollisionModel
    
    PointCollisionModel
    
    RayCollisionModel
    
    SphereCollisionModel
    
    TetrahedronCollisionModel
    
    TriangleCollisionModel
    
    TriangleModelInRegularGrid
    
    TriangleOctreeModel
  - CollisionGroupManagers
    CollisionGroupManagers
    
    CollisionGroupManager
  - Response
    Response
    
    Contact
    Contact
    
    CollisionResponse
    
    ContactListener
    
    PenalityContactForceField
    
    RuleBasedContactManager
- Constraint
  Constraint
  - Projective
    Projective
    
    AttachProjectiveConstraint
    
    FixedProjectiveConstraint
    
    AffineMovementProjectiveConstraint
    
    DirectionProjectiveConstraint
    
    FixedPlaneProjectiveConstraint
    
    FixedRotationProjectiveConstraint
    
    FixedTranslationProjectiveConstraint
    
    HermiteSplineProjectiveConstraint
    
    LineProjectiveConstraint
    
    LinearMovementProjectiveConstraint
    
    LinearVelocityProjectiveConstraint
    
    OscillatorProjectiveConstraint
    
    ParabolicProjectiveConstraint
    
    PartialFixedProjectiveConstraint
    
    PartialLinearMovementProjectiveConstraint
    
    PatchTestMovementProjectiveConstraint
    
    PlaneProjectiveConstraint
    
    PointProjectiveConstraint
    
    PositionBasedDynamicsProjectiveConstraint
    
    SkeletalMotionProjectiveConstraint
  - Lagrangian
    Lagrangian
    
    BilateralLagrangianConstraint
    
    UnilateralLagrangianConstraint
    
    Correction
    Correction
    
    GenericConstraintCorrection
    
    LinearSolverConstraintCorrection
    
    PrecomputedConstraintCorrection
    
    UncoupledConstraintCorrection
    
    Model
    Model
    
    BilateralLagrangianConstraint
    
    FixedLagrangianConstraint
    
    SlidingLagrangianConstraint
    
    StopperLagrangianConstraint
    
    UniformLagrangianConstraint
    
    UnilateralLagrangianConstraint
    
    Solver
    Solver
    
    GenericConstraintSolver
    
    LCPConstraintSolver
- Engine
  Engine
  - TextureInterpolation
  - Generate
    Generate
    
    ExtrudeSurface
    
    MergePoints
    
    Spiral
    
    Vertex2Frame
    
    ExtrudeEdgesAndGenerateQuads
    
    ExtrudeQuadsAndGenerateHexas
    
    GenerateCylinder
    
    GenerateGrid
    
    GenerateRigidMass
    
    GenerateSphere
    
    GroupFilterYoungModulus
    
    JoinPoints
    
    MergeMeshes
    
    MergeSets
    
    MergeVectors
    
    MeshBarycentricMapperEngine
    
    MeshClosingEngine
    
    MeshTetraStuffing
    
    NormEngine
    
    NormalsFromPoints
    
    RandomPointDistributionInSurface
  - Select
    Select
    
    ROI Selection
    
    PointsFromIndices
    
    SubSetTopology
    
    BoxROI
    
    ComplementaryROI
    
    IndicesFromValues
    
    MergeROIs
    
    MeshBoundaryROI
    
    MeshROI
    
    MeshSampler
    
    MeshSplittingEngine
    
    MeshSubsetEngine
    
    NearestPointROI
    
    PairBoxROI
    
    PlaneROI
    
    ProximityROI
    
    SelectConnectedLabelsROI
    
    SelectLabelROI
    
    SphereROI
    
    SubsetTopology
    
    ValuesFromIndices
    
    ValuesFromPositions
  - Transform
    Transform
    
    TransformEngine
    
    TransformPosition
    
    DifferenceEngine
    
    DilateEngine
    
    DisplacementMatrixEngine
    
    DisplacementTransformEngine
    
    IndexValueMapper
    
    Indices2ValuesMapper
    
    InvertTransformMatrixEngine
    
    MapIndices
    
    MathOp
    
    ProjectiveTransformEngine
    
    QuatToRigidEngine
    
    ROIValueMapper
    
    RigidToQuatEngine
    
    RotateTransformMatrixEngine
    
    ScaleTransformMatrixEngine
    
    SmoothMeshEngine
    
    TranslateTransformMatrixEngine
    
    Vertex2Frame
  - Analyze
    Analyze
    
    AverageCoord
    
    ClusteringEngine
    
    Distances
    
    HausdorffDistance
    
    ShapeMatching
    
    SumEngine
- SolidMechanics
  SolidMechanics
- MechanicalLoad
  MechanicalLoad
- ODESolver
  ODESolver
  - Forward
    Forward
    
    EulerExplicitSolver
    
    StaticSolver
    
    CentralDifferenceSolver
    
    DampVelocitySolver
    
    RungeKutta2Solver
    
    RungeKutta4Solver
  - Backward
    Backward
    
    EulerImplicitSolver
    
    NewmarkImplicitSolver
    
    StaticSolver
    
    VariationalSymplecticSolver
- LinearSolver
  LinearSolver
  - Iterative
    Iterative
    
    CGLinearSolver
    
    Preconditioned CG
    
    MatrixFreeSystem
    
    MinResLinearSolver
    
    ShewchukPCGLinearSolver
  - Direct
    Direct
    
    SparseCholeskySolver
    
    SparseLDLSolver
    
    AsyncSparseLDLSolver
    
    SparseLUSolver
    
    BTDLinearSolver
    
    CholeskySolver
    
    EigenSimplicialLDLT
    
    EigenSimplicialLLT
    
    EigenSparseLU
    
    EigenSparseQR
    
    MatrixLinearSystem
    
    PrecomputedLinearSolver
    
    SVDLinearSolver
  - Ordering
    Ordering
    
    AMDOrderingMethod
    
    COLAMDOrderingMethod
    
    NaturalOrderingMethod
  - Preconditioner
    Preconditioner
    
    BlockJacobiPreconditioner
    
    JacobiPreconditioner
    
    PrecomputedMatrixSystem
    
    PrecomputedWarpPreconditioner
    
    RotationMatrixSystem
    
    SSORPreconditioner
    
    WarpPreconditioner
- IO
  IO
  - Mesh
    Mesh
    
    MeshGmshLoader
    
    MeshOBJLoader
    
    MeshOffLoader
    
    MeshSTLLoader
    
    MeshVTKLoader
    
    VTKExport
    
    BlenderExporter
    
    GIDMeshLoader
    
    GridMeshCreator
    
    MeshExporter
    
    MeshTrianLoader
    
    MeshXspLoader
    
    OffSequenceLoader
    
    STLExporter
    
    SphereLoader
    
    StringMeshCreator
    
    VTKExporter
    
    VisualModelOBJExporter
    
    VoxelGridLoader
- Mapping
  Mapping
- Mass
  Mass
- Rendering
  Rendering
- Visual
  Visual
- UI
  UI
  - Customizing the UI
  - Recorded Camera
- Controller
  Controller
  - MechanicalStateController
- Diffusion
  Diffusion
  - TetrahedronDiffusionFEMForceField
- GUI
  GUI
- Haptics
  Haptics
- LinearSystem
  LinearSystem
- Playback
  Playback
- Rendering2D
  Rendering2D
- Rendering3D
  Rendering3D
- SceneUtility
  SceneUtility
- Setting
  Setting
- Shader
  Shader
- StateContainer
  StateContainer
  - MappedObject
  - MechanicalObject
- Topology
  Topology
Plugins
Plugins
- What is a plugin
- Build a plugin from sources
- Fetch plugin code source
- Use a plugin binaries
- Create your plugin
- Usual plugins
  Usual plugins
  - CGAL library
  - Python scripting
  - Using CUDA
  - Sensable
  - Xitact
  - HAPI
  - Geomagic
  - SofaCarving
  - MultiThreading
  - ArticulatedSystemPlugin
    ArticulatedSystemPlugin
    
    ArticulatedHierarchyBVHController
    
    ArticulatedHierarchyContainer
    
    ArticulatedHierarchyController
    
    ArticulatedSystemMapping
    
    Articulation
    
    ArticulationCenter
  - BeamAdapter
    BeamAdapter
    
    AdaptiveBeamController
    
    AdaptiveBeamForceFieldAndMass
    
    AdaptiveBeamLengthConstraint
    
    AdaptiveBeamMapping
    
    AdaptiveBeamSlidingConstraint
    
    AdaptiveInflatableBeamForceField
    
    BeamAdapterActionController
    
    BeamInterpolation
    
    BeamLengthMapping
    
    BeamProjectionDifferenceMultiMapping
    
    InterventionalRadiologyController
    
    MultiAdaptiveBeamMapping
    
    RodMeshSection
    
    RodSpireSection
    
    RodStraightSection
    
    SteerableCatheter
    
    SutureController
    
    WireBeamInterpolation
    
    WireRestShape
  - CGALPlugin
    CGALPlugin
    
    BooleanOperations
    
    CylinderMesh
    
    DecimateMesh
    
    FrontSurfaceReconstruction
    
    MeshGenerationFromImage
    
    MeshGenerationFromPolyhedron
    
    PoissonSurfaceReconstruction
    
    Refine2DMesh
    
    TriangularConvexHull3D
    
    UpsamplePointCloud
  - CSparseSolvers
    CSparseSolvers
    
    SparseCholeskySolver
    
    SparseLUSolver
  - CollisionOBBCapsule
    CollisionOBBCapsule
    
    OBBCollisionModel
  - Geomagic
    Geomagic
    
    GeomagicDriver
    
    GeomagicEmulator
  - InvertibleFVM
    InvertibleFVM
    
    InvertibleFVMForceField
  - ManifoldTopologies
    ManifoldTopologies
    
    ManifoldEdgeSetGeometryAlgorithms
    
    ManifoldEdgeSetTopologyContainer
    
    ManifoldEdgeSetTopologyModifier
    
    ManifoldTetrahedronSetTopologyContainer
    
    ManifoldTriangleSetGeometryAlgorithms
    
    ManifoldTriangleSetTopologyContainer
    
    ManifoldTriangleSetTopologyModifier
  - ModelOrderReduction
    ModelOrderReduction
    
    HyperReducedHexahedronFEMForceField
    
    HyperReducedRestShapeSpringsForceField
    
    HyperReducedTetrahedralCorotationalFEMForceField
    
    HyperReducedTetrahedronFEMForceField
    
    HyperReducedTetrahedronHyperelasticityFEMForceField
    
    HyperReducedTriangleFEMForceField
    
    MORContactMapping
    
    MORPointCollisionModel
    
    ModelOrderReductionMapping
  - MultiThreading
    MultiThreading
    
    AnimationLoopParallelScheduler
    
    BeamLinearMapping mt
    
    DataExchange
    
    MeanComputation
    
    ParallelBVHNarrowPhase
    
    ParallelBruteForceBroadPhase
    
    ParallelCGLinearSolver
    
    ParallelHexahedronFEMForceField
    
    ParallelMeshSpringForceField
    
    ParallelStiffSpringForceField
    
    ParallelTetrahedronFEMForceField
  - PluginExample
    PluginExample
    
    MyBehaviorModel
    
    MyMappingPendulumInPlane
    
    MyProjectiveConstraintSet
    
    MyVisualModel
  - Registration
    Registration
    
    ClosestPointRegistrationForceField
    
    GroupwiseRegistrationEngine
    
    InertiaAlign
    
    IntensityProfileCreator
    
    IntensityProfileRegistrationForceField
    
    RegistrationContactForceField
    
    RegistrationExporter
  - SensableEmulation
    SensableEmulation
    
    OmniDriverEmu
  - ShapeMatchingPlugin
    ShapeMatchingPlugin
    
    ShapeMatchingForceField
    
    ShapeMatchingRotationFinder
  - SofaCUDA
    SofaCUDA
    
    BarycentricMapping
    
    BeamLinearMapping
    
    CudaCollisionDetection
    
    CudaHexahedronTLEDForceField
    
    CudaPointCollisionModel
    
    CudaProximityIntersection
    
    CudaRigidDistanceGridCollisionModel
    
    CudaTetrahedronTLEDForceField
    
    DiagonalMass
    
    IdentityMapping
    
    MeshMatrixMass
    
    RigidMapping
    
    SubsetMapping
    
    SubsetMultiMapping
  - SofaCarving
    SofaCarving
    
    CarvingManager
  - SofaDistanceGrid
    SofaDistanceGrid
    
    DistanceGridForceField
    
    FFDDistanceGridCollisionModel
    
    RigidDistanceGridCollisionModel
  - SofaEulerianFluid
    SofaEulerianFluid
    
    Fluid2D
    
    Fluid3D
  - SofaImplicitField
    SofaImplicitField
    
    BottleField
    
    DiscreteGridField
    
    ImplicitSurfaceMapping
    
    InterpolatedImplicitSurface
    
    SphericalField
    
    StarShapedField
  - SofaMatrix
    SofaMatrix
    
    ComplianceMatrixExporter
    
    ComplianceMatrixImage
    
    FillReducingOrdering
    
    GlobalSystemMatrixExporter
    
    GlobalSystemMatrixImage
  - SofaSphFluid
    SofaSphFluid
    
    OglFluidModel
    
    ParticleSink
    
    ParticleSource
    
    ParticlesRepulsionForceField
    
    SPHFluidForceField
    
    SPHFluidSurfaceMapping
    
    SpatialGridContainer
    
    SpatialGridPointModel
  - SofaValidation
    SofaValidation
    
    DataController
    
    DataMonitor
    
    DevAngleCollisionMonitor
    
    DevMonitorManager
    
    DevTensionMonitor
    
    EvalPointsDistance
    
    EvalSurfaceDistance
    
    ExtraMonitor
    
    Monitor
  - SoftRobots
    SoftRobots
    
    AnimationEditor
    
    CableConstraint
    
    CenterOfMass
    
    DataVariationLimiter
    
    PREquivalentStiffnessForceField
    
    PartialRigidificationConstraint
    
    PartialRigidificationForceField
    
    PipeForceField
    
    PositionConstraint
    
    SerialPortBridgeGeneric
    
    SurfacePressureConstraint
    
    UnilateralPlaneConstraint
    
    VolumeFromTetrahedrons
    
    VolumeFromTriangles
  - VolumetricRendering
    VolumetricRendering
    
    OglTetrahedralModel
    
    OglVolumetricModel
  - image
    image
    
    CollisionToCarvingEngine
    
    DataExchange
    
    DepthMapToMeshEngine
    
    GenerateImage
    
    ImageAccumulator
    
    ImageContainer
    
    ImageCoordValuesFromPositions
    
    ImageDataDisplay
    
    ImageExporter
    
    ImageFilter
    
    ImageOperation
    
    ImageSampler
    
    ImageToRigidMassEngine
    
    ImageTransform
    
    ImageTransformEngine
    
    ImageValuesFromPositions
    
    MarchingCubesEngine
    
    MergeImages
    
    MeshToImageEngine
    
    TransferFunction
    
    VoronoiToMeshEngine
  - image gui
    image gui
    
    AverageCatchAllVector
    
    CatchAllVector
    
    ContourImageToolBox
    
    DepthImageToolBox
    
    DistanceZoneImageToolBox
    
    LabelBoxImageToolBox
    
    LabelGridImageToolBox
    
    LabelPointImageToolBox
    
    LabelPointsBySectionImageToolBox
    
    MergedCatchAllVector
    
    ZoneGeneratorImageToolBox
Programming with SOFA
Programming with SOFA
- SOFA packages
- Create your plugin
- Create your component
- Create your engine
- Create your scene in Cpp
- Create your binaries
- API overview
  API overview
Contributing to SOFA
Contributing to SOFA
deprecated
deprecated

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