Sofa.Core

General description

Contains the general object hierarchy and data structures

A SOFA simulation is referred as a “scene”. A scene contains several object. Each object is implemented as the aggregation of components. Groups of component are grouped and organized logically using a specific container called Node. Nodes are hierarchically organized in a scene graph. For more, see the SOFA lexicography.

Commonly used classes:

Node	A Node stores other nodes and components.
Object	Base class for components which can be added in a simulation
Controller	Overridable class for user interaction on SOFA Components
ForceFieldVec3d	Overridable class to create your own customized force field
Data	Public attribute of a Component (C++ class) visible and accessible to the user (read/write)

Example

import Sofa.Core

# Create a new node
n = Sofa.Core.Node("MyNode")

# Create a new node
n = Sofa.Core.Node("MyNode"")
# Add a child node name 'Node2'
n.addChild("Node2")

# Add a mechanical component to MyNode
n.addObject("MechanicalObject", name="dofs")

Sofa.Simulation.init(root)
Sofa.Simulation.print(root)

API Table of Content

Classes

Base	Base class of the scene graph hierarchy
BaseContext	Base class for Context classes, storing shared variables and parameters
BaseMeshTopology	API providing all topology-related functions
BaseNode	Base class for simulation node
BasePrefab	Base class for prefabs (for more see Sofa.prefab)
Camera	API dedicated to the control of the Camera in SOFA
ClassEntry	Record storing information about a class
ContactListener	Component dedicated to the monitoring of the collision information between models
Context	Implementation of BaseContext, storing all shared parameters in Datas
Controller	Overridable class for user interaction on SOFA Components
Data	Public attribute of a Component (C++ class) visible and accessible to the user (read/write)
DataContainer	Classic python container implemented for SOFA data fields
DataContainerContextManager	Container managing context data
DataDict	Exposes the data of a sofa object in a way similar to a normal python dictionnary
DataDictIterator	Iterator reimplemented to fit dataDict
DataEngine	Class computing a set of Data outputs from a set of Data inputs
DataLink	Stores the connection between two object of type Data
DataString	Data of type string
DataVectorString	Data of type vector<string>
ForceFieldRigid2d	Overridable class to create your own customized force field
ForceFieldRigid3d	Overridable class to create your own customized force field
ForceFieldVec1d	Overridable class to create your own customized force field
ForceFieldVec2d	Overridable class to create your own customized force field
ForceFieldVec3d	Overridable class to create your own customized force field
ForceFieldVec6d	Overridable class to create your own customized force field
Link	Connection created between Data instances of two different Components
LinkPath	Hold a linkpath to an object or a data
MassRigid2d	Component defining the mass of an object
MassRigid3d	Component defining the mass of an object
MassVec1d	Component defining the mass of an object
MassVec2d	Component defining the mass of an object
MassVec3d	Component defining the mass of an object
MassVec6d	Component defining the mass of an object
Node	A Node stores other nodes and components.
NodeIterator	Iterator on nodes
Object	Base class for components which can be added in a simulation
ObjectFactory	Class used to register and dynamically create objects
PointSetTopologyModifier	Topology modifications associated to a set of points
PrefabLink	Link to a prefab
RawPrefab	Prefabs are python templates for a SOFA scene
Topology	Compatibility topology class (against BaseMeshTopology)