Use Unity3D as the rendering platform for your SOFA. This repository is a Unity3D package allowing to render a SOFA simulation scene inside Unity3D. All SOFA VisualModel components present in the simulation will be rendered inside Unity3D engine as GameObject with a MeshFilter. Thus, it is possible to apply Unity3D Materials to each visual model and also to combine Unity3D assets with the SOFA simulation.
This version allows only to change the gravity and the time step of the SOFA simulation and only the VisualModel are mapped into Unity3D. For a full integration of SOFA within Unity3D or more advanced features: