SOFA is a C++ library primarily targeted at medical simulation research. Based on an advanced software architecture, it allows to (1) create complex and evolving simulations by combining new algorithms with algorithms already included in SOFA; (2) modify most parameters of the simulation – deformable behavior, surface representation, solver, constraints, collision algorithm, etc. – by simply editing an XML file; (3) build complex models from simpler ones using a scene-graph description; (4) efficiently simulate the dynamics of interacting objects using abstract equation solvers; and (5) reuse and easily compare a variety of available methods (see Figure 1 ).
SOFA has been part of a collaborative Virtual Reality demonstration at the VRST exhibition in Bordeaux, October 2008. It has been used as software platform for several publications of the team  ,  .