Scalar Field Dark Matter (SFDM) comprised of ultralight bosons has attracted great interest as an alternative to standard, collisionless Cold Dark Matter (CDM) because of its novel structure-formation dynamics, described by the coupled Schrödinger-Poisson equations. In the free-field ("fuzzy") limit of SFDM (FDM), structure is inhibited below the de Broglie wavelength, but resembles CDM on larger scales. Virialized haloes have "solitonic" cores of radius ∼ 𝜆 deB , surrounded by CDM-like envelopes. When a strong enough repulsive self-interaction (SI) is also present, structure can be inhibited below a second length scale, 𝜆 SI , with 𝜆 SI > 𝜆 deB -called the Thomas-Fermi (TF) regime. FDM dynamics differs from CDM because of quantum pressure, and SFDM-TF differs further by adding SI pressure. In the small-𝜆 deB limit, however, we can model all three by fluid conservation equations for a compressible, 𝛾 = 5/3 ideal gas, with ideal gas pressure sourced by internal velocity dispersion and, for the TF regime, an added SI pressure, 𝑃 SI ∝ 𝜌 2 . We use these fluid equations to simulate halo formation from gravitational collapse in 1D, spherical symmetry, demonstrating for the first time that SFDM-TF haloes form with cores the size of 𝑅 TF , the radius of an SI-pressure-supported (𝑛 = 1)-polytrope, surrounded by CDM-like envelopes. In comparison with rotation curves of dwarf galaxies in the local Universe, SFDM-TF haloes pass the ["too-big-to-fail" + "core-cusp"]-test if 𝑅 TF 1 kpc.