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<Node name="root" dt="0.05" gravity="0 -9.810 0">
<VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields showVisualModels" />
<RequiredPlugin name='SofaMiscCollision'/>
<LCPConstraintSolver maxIt="1000" tolerance="1e-6" initial_guess="false" build_lcp="true" multi_grid="false" printLog="0" mu="0.9"/>
<FreeMotionAnimationLoop solveVelocityConstraintFirst="1" />
<CollisionPipeline depth="15" verbose="0" draw="0" />
<BruteForceDetection name="N2" />
<LocalMinDistance name="Proximity" alarmDistance="0.3" contactDistance="0.1" useLMDFilters="0" />
<CollisionResponse name="Response" response="FrictionContact" />
<DiscreteIntersection/>
<Node>
<EulerImplicit name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<CollisionGroup name="Group" />
<Node name="cloth">
<MeshGmshLoader name="loader" filename="mesh/square3.msh" createSubelements="true" />
<MechanicalObject name='cloth' src="@loader" template="Vec3d" rotation="90 0 0" scale="100"/>
<UncoupledConstraintCorrection/>
<include href="Objects/TriangleSetTopology.xml" src="@loader" template="Vec3d"/>
<DiagonalMass massDensity="0.01" />
<MeshTopology src="@loader" name="Static Mesh" />
<FixedConstraint indices="1" />
<TriangularFEMForceField name="FEM" youngModulus="1000" template="Vec3d" poissonRatio="0.1" method="large" />
<TriangularBendingSprings name="FEM-Bend" stiffness="10" template="Vec3d" damping="1.0" />
<TriangleSet />
<TriangleModel name="models" />
<Node name="clothVisual">
<OglModel name="Visual" src="@../loader" color="red" template="ExtVec3f"/>
<IdentityMapping input="@.." output="@Visual" />
</Node>
<Node name="clothSurf">
<MeshGmshLoader name="loaderSurf" filename="mesh/square3.msh" createSubelements="true" />
<Mesh src="@loaderSurf"/>
<MechanicalObject src="@loaderSurf"/>
<Triangle />
<Line />
<Point />
<IdentityMapping />
</Node>
<Node name="Edge Mesh">
<EdgeSetTopologyContainer name="Container" />
<EdgeSetTopologyModifier name="Modifier" />
<EdgeSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" drawEdges="1" />
<EdgeSetTopologyAlgorithms template="Vec3d" name="TopoAlgo" />
<Triangle2EdgeTopologicalMapping name="Mapping" input="@../Container" output="@Container" />
<MeshSpringForceField template="Vec3d" stiffness="300" damping="1.0" />
</Node>
</Node>
<Node name="CUBE">
<MechanicalObject template="Rigid" scale="2.0" translation="-10 10 -40" />
<UniformMass totalmass="10.0" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<OglModel name="Visual" fileMesh="mesh/smCube27.obj" color="0.0 0.5 0.5 1.0" scale="2.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshObjLoader name="loader" filename="mesh/smCube27.obj" triangulate="true" />
<Mesh src="@loader"/>
<MechanicalObject src="@loader" scale="2.0" />
<Triangle/>
<Line/>
<Point/>
<RigidMapping />
</Node>
</Node>
<Node name="Floor">
<MeshObjLoader name="loader" filename="mesh/floorFlat.obj" triangulate="true"/>
<Mesh src="@loader" />
<MechanicalObject src="@loader" name="DOFs" template="Vec3d" scale="10" translation="50 -10 50" /> <!-- WHAT ABOUT THE TEMPLATE HERE -->
<Triangle simulated="0" moving="0" contactFriction="100"/>
<Line simulated="0" moving="0" contactFriction="100"/>
<Point simulated="0" moving="0" contactFriction="100"/>
<OglModel name="FloorV" />
<IdentityMapping input="@." output="@FloorV" />
</Node>
</Node>
</Node>
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