SOFA is an open-source framework for multi-physics simulation. SOFA aims at interactive and real-time applications, with an emphasis on medical simulation. SOFA benefits today from large, active and international community, including international universities, startups and companies. For more flexibility, SOFA is made up of a stable open-source core and many optional plugins (>100 plugins), providing innovative numerical methods and state-of-the-art algorithms. The SOFA core has a LGPL license (permissive and non-contaminating) fostering development of prototypes and products under any commercial license.