C++SimulationCode
From SOFAWiki
Defining simulations using XML scene files is generally the most convenient way. However, for various reasons, it may be useful to model the scene in C++. Examples of C++ simulation code can be found in applications/tutorials.
People have also made a Scn/XML to C++ converter for the SOFA Modeler (with some limitations) : http://smart.seecs.nust.edu.pk/smartconverter.html