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 2 ).
SOFA is developed in collaboration with two other INRIA project-teams: Alcove and Asclepios, as well as at the SIM group in the Massachussets General Hospital (MGH). The first offical release occured in February 2007. It was presented to the medical community at conference Medicine Meets Virtual Reality (MMVR'07) [Oops!] , as well as conference SURGETICA 2007 [Oops!] .
SOFA is currently evolving toward an INRIA AEN program (Action d'Envergure Nationale).