http://www.sofa-framework.org/ looking for other similar medical simulation software that have easier API for programming, better documentation and more active user interactive help forum. the goal is to do virtual design. I want to design something that can simulate a pipe pumping with haptic devices, but I couldn't get Sofa to work with my phantom device in their UI, and I can't use their API to build my stuff either. it's hard to get things going with slow support. thx for the help