cloth_on_table_no_friciton.scn

<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>