SofaAPAPI-Unity3D [V20.12.00] // [v21.06.00]

Release date: 2021-09-15

Both releases have the same enhancements and fixes but they are based on different version of SOFA physics engine:

– SofaAPAPI-Unity3D version v20.12.00 is based on SOFA release v20.12.03
– SofaAPAPI-Unity3D version v21.06.00 is based on SOFA Release v21.06.00



  • Core enhancements:
    • Add: Unity HDRP support.
    • Add: Info screen to display SOFA fps and mesh information.
    • Update: Clean all demo and benchmark scenes.
    • Add: Liver demo scene in normal, HD and CUDA version.
    • Add: Heat diffusion demo scene.
    • Improve: The license checking mechanism.
    • Add: OpenGL texture memory sharing between Unity3D and SOFA to transfer data.

  • Plugins Enhancements:
    • [Geomagic] Add: several demo scenes by default for one or two tools.
    • [XRay] Add: three demo scenes by default.
    • [Capsule Endoscopy] Add demo scene of project VR-Caps.
  • Major bug fix:
    • Fix: SOFA plugin loading using a plugin list in SofaContext to activate/unactivate them.
    • Fix: Problem of duplicated component names at scene parsing.
    • Fix: SOFA scene Reconnection when components have been removed or added.
    • Fix: MechanicalObject bindings for rest positions, velocities and forces.
    • Fix: Liver interaction demo scenes. Restore tool behaviors.

  • Other bug Fix:
    • Fix: SofaCuda template integration.
    • Fix: All material and textures loading.
    • Fix: Vec2 and Vec3 Int Data parsing.
    • Fix: Scene parsing warnings due to changes in SOFA.

Know bugs


  • [SofaPython3] is not handled. Support of .py scenes has been disabled.
  • [SoftRobots] asset has been disabled.
  • [Multi-threading] asset has been disabled.
  • ParticlesModel max number of particles can’t be increased during simulation.
  • SofaVR_API and VR SofaPlayer curved interfaced have been disabled.
  • Mesh interaction in Unity3D is only working on triangulation.
  • It is not possible to create components directly in Unity3D hierarchy interface and then change its type.
    Only a few set of components are handled. See graph edition
  • It is only possible to set Data value, not to link them between components inside Unity3D.
  • Quad and Hexahedron topology are not yet supported.
  • Building Unity App will copy all SofaUnity scenes and resources. Not only the targeted one.