The company 3DSystem is now providing the haptic devices Geomagic. This plugin implements a driver interfacing the haptic devices with a SOFA simulation. This plugin is available in SOFA under the LGPL open-source license and can be activated in the project configuration.
PLUGIN_GEOMAGICwhen configuring SOFA. With this interface plugin, it thus becomes possible to control an object in the simulation through the haptic device. More interesting, an haptic feedback based on the physics computation can be rendered to the user. An documentation of the plugin is available online.