Many informations are available to help you starting using SOFA and developing your own application.
Give it a try, you just have to browse the categories on the left sidebar. Some pages may be incomplete, no worries, we are still working on them!
And if you need it:
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A detailed introduction has been written in the book Soft Tissue Biomechanical Modeling for Computer Assisted Surgery.
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Doxygen API documentation of the SOFA libraries and the public plugins is still available.
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The SOFA Forum is at your disposal to detail your questions. The SOFA community would be pleased to give you some help.