SOFA: A modular yet efficient simulation framework

François Faure (1) , Jérémie Allard (2) , Stéphane Cotin (3) , Paul Neumann (2) , Pierre-Jean Bensoussan (3) , Christian Duriez (3) , Hervé Delingette (4) , Laurent Grisoni (3, 5)

1 EVASION - Virtual environments for animation and image synthesis of natural objects
2 CIMIT - Center for Integration of Medicine & Innovative Technology
3 ALCOVE - Collaborative interactive virtual environment
4 ASCLEPIOS - Analysis and Simulation of Biomedical Images
5 LIFL - Laboratoire d'Informatique Fondamentale de Lille

SOFA is a new open source framework primarily targeted at medical simulation research and industry. It is based on a scene graph data structure extended to physical models and abstract algorithms. Additionally, multiple models of the same objects can easily be used to optimize different tasks such as force computation, collision handling, and rendering. This results in a highly flexible architecture able to model and animate a wide range of simulated objects. We explain the main concepts of SOFA and detail an example of application to a surgery procedure.

Mots clés: physical simulation; SOFA Framework

Domaines: Synthèse d'image et réalité virtuelle [cs.GR]; Bio-Informatique, Biologie Systémique [q-bio.QM]; Bio-informatique [q-bio.QM]

François Faure, Jérémie Allard, Stéphane Cotin, Paul Neumann, Pierre-Jean Bensoussan, et al.. SOFA: A modular yet efficient simulation framework. Surgetica 2007 - Computer-Aided Medical Interventions: tools and applications, Sep 2007, Chambéry, France. pp.101-108. ⟨inria-00319407v2⟩