SOFA – API overview

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API overview

Last modified: 30 November 2021

Getting Started
- Binaries
  - Binaries instructions
- Build
  - Linux
  - MacOS
  - Windows
  - Build Options
- Video Tutorials
Using SOFA
Simulation Principles
- Scene Graph
- Animation Loop
- Visitors
- MechanicalObject
- Topology
- System Resolution
  - Integration Scheme
  - Linear Solver
- Multi-Model Representation
- Example-Simple Body
Components
- AnimationLoop
- Collision
  - Detection
    - Algorithm
      - CollisionPipeline
      - BroadPhases
        
        BroadPhase
        
        BruteForceBroadPhase
      - DefaultPipeline
      - Detection Sweep and Prune
      - Detection SAP Incremental
      - NarrowPhases
        
        NarrowPhase
        
        BVHNarrowPhase
        
        DirectSAPNarrowPhase
        
        RayTraceNarrowPhase
    - Intersection
  - Geometry
    - CollisionModels
  - CollisionGroupManagers
    - CollisionGroupManager
- Constraint
  - Projective Constraint
  - Projective
    - AttachProjectiveConstraint
    - FixedProjectiveConstraint
  - Lagrange Constraint
  - Lagrangian
    - el
      - BilateralLagrangianConstraint
      - UnilateralLagrangianConstraint
- Engine
  - Generate
  - Select
  - TextureInterpolation
  - Transform
    - TransformEngine
    - TransformPosition
- SolidMechanics
  - FEM
    - stic
      - QuadBendingFEMForceField
      - TetrahedronFEMForceField
    - erElastic
      - TetrahedronHyperelasticityFEMForceField
  - Spring
    - PolynomialSpringsForceField
- MechanicalLoad
  - ConicalForceField
  - ConstantForceField
- ODESolver
  - Forward
    - EulerExplicitSolver
    - StaticSolver
  - Backward
    - EulerImplicitSolver
    - NewmarkImplicitSolver
- LinearSolver
  - Iterative
    - CGLinearSolver
    - Preconditioned CG
  - Direct
- IO
  - Mesh
- Mapping
  - ear
    - ntityMapping
  - Linear
    - areMapping
- Mass
- Rendering
- Visual
  - VisualStyle
- UI
  - Customizing the UI
  - Recorded Camera
Plugins
- What is a plugin
- Build a plugin from sources
- Fetch plugin code source
- Use a plugin binaries
- Create your plugin
- Create your plugin
- Usual plugins
  - CGAL library
  - Python scripting
  - Using CUDA
  - Sensable
  - Xitact
  - HAPI
  - Geomagic
  - SofaCarving
  - MultiThreading
  - iculatedSystemPlugin
    - ArticulatedSystemMapping
Programming with SOFA
Contributing to SOFA

About SOFA

SOFA is an open-source framework for interactive mechanical simulation, with emphasis on biomechanics and robotics.

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