| ▼Nsofa | |
| ▼Ncomponent | |
| CForceFeedbackTransform | Data necessary to transform positions and forces between simulation and device space | 
| CForceFeedbackEffect | Implement HAPIForceEffect using a Sofa ForceFeedback component | 
| CSofaHAPIForceFeedbackEffect | Encapsulate ForceFeedbackEffect within a Sofa graph component | 
| CSofaHAPIHapticsDevice |