File: check_schema.dae

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opencollada 0.1.0~20180719.619d942%2Bdfsg0-2
links: PTS, VCS
area: main
in suites: bookworm, bullseye, sid
size: 100,188 kB
sloc: cpp: 652,971; ansic: 214,354; python: 11,837; java: 11,005; sh: 10,177; xml: 9,726; php: 5,235; makefile: 2,021; asm: 1,852; ruby: 101; lisp: 84; perl: 67; awk: 48
file content (1382 lines) | stat: -rw-r--r-- 211,424 bytes
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <asset>
    <contributor>
      <author>jjacob</author>
      <authoring_tool>OpenCOLLADA2015;  Version: 1.6;  Revision: developer_version</authoring_tool>
      <comments>
			ColladaMaya export options: 
			bakeTransforms=1;relativePaths=1;preserveSourceTree=1;copyTextures=1;exportTriangles=0;exportCgfxFileReferences=1;
			isSampling=0;curveConstrainSampling=0;removeStaticCurves=1;exportPhysics=1;exportConvexMeshGeometries=1;exportPolygonMeshes=1;exportLights=1;
			exportCameras=1;exportAnimationsOnly=0;exportSeparateFile=0;modelNameDAE=;exportJoints=1;exportSkin=1;exportAnimations=1;exportOptimizedBezierAnimation=0;exportInvisibleNodes=0;exportDefaultCameras=0;
			exportTexCoords=1;exportNormals=1;exportNormalsPerVertex=1;exportVertexColors=1;exportVertexColorsPerVertex=1;
			exportTexTangents=0;exportTangents=0;exportReferencedMaterials=0;exportMaterialsOnly=0;
			exportXRefs=1;dereferenceXRefs=1;exportCameraAsLookat=0;cameraXFov=0;cameraYFov=1;encodedNames=1;doublePrecision=0
		</comments>
      <source_data>file:///E:/fl4re/fl4re-tests/models/PhysX/physx.ma</source_data>
    </contributor>
    <created>2017-03-08T13:35:39</created>
    <modified>2017-03-08T13:35:39</modified>
    <unit name="meter" meter="1"/>
    <up_axis>Y_UP</up_axis>
  </asset>
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          <color>1 1 1</color>
          <constant_attenuation>1</constant_attenuation>
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          <quadratic_attenuation>0</quadratic_attenuation>
        </point>
      </technique_common>
      <extra>
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        </technique>
      </extra>
    </light>
  </library_lights>
  <library_materials>
    <material id="lambert1" name="lambert1">
      <instance_effect url="#lambert1-fx"/>
    </material>
  </library_materials>
  <library_effects>
    <effect id="lambert1-fx">
      <profile_COMMON>
        <technique sid="common">
          <lambert>
            <emission>
              <color>0 0 0 1</color>
            </emission>
            <ambient>
              <color>0 0 0 1</color>
            </ambient>
            <diffuse>
              <color>0.4 0.4 0.4 1</color>
            </diffuse>
            <transparent opaque="RGB_ZERO">
              <color>0 0 0 1</color>
            </transparent>
            <transparency>
              <float>1</float>
            </transparency>
          </lambert>
        </technique>
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      </extra>
    </effect>
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        </polylist>
      </mesh>
      <extra>
        <technique profile="OpenCOLLADAMaya">
          <originalMayaNodeId sid="originalMayaNodeId">pCylinderShape2</originalMayaNodeId>
          <double_sided sid="double_sided">1</double_sided>
        </technique>
      </extra>
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              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
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        <vertices id="_1939316755408-vertices" name="_1939316755408-vertices">
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      </convex_mesh>
    </geometry>
  </library_geometries>
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      <rigid_body sid="groundPlane" name="groundPlane">
        <technique_common>
          <dynamic>0</dynamic>
          <mass>0</mass>
          <inertia>0 0 0</inertia>
          <physics_material id="groundPlane_material">
            <technique_common>
              <dynamic_friction>0.5</dynamic_friction>
              <restitution>1</restitution>
              <static_friction>0.5</static_friction>
            </technique_common>
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              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
                <px:px_material>
                  <px:friction_combine_mode>MIN</px:friction_combine_mode>
                  <px:restitution_combine_mode>MIN</px:restitution_combine_mode>
                </px:px_material>
              </technique>
            </extra>
          </physics_material>
          <shape>
            <density>0</density>
            <plane>
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            </plane>
            <translate sid="translate">0 -2 0</translate>
            <rotate sid="rotateZ">0 0 1 90</rotate>
            <extra>
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                  <px:contact_offset>2.5e-4</px:contact_offset>
                  <px:name>Ground</px:name>
                </px:px_shape>
              </technique>
            </extra>
          </shape>
        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
            <px:px_rigid_body>
              <px:global_pose>0 0 0 1 0 0 0 </px:global_pose>
            </px:px_rigid_body>
          </technique>
        </extra>
      </rigid_body>
      <rigid_body sid="pCube1RigidBody1" name="pCube1RigidBody1">
        <technique_common>
          <dynamic>0</dynamic>
          <mass_frame>
            <translate sid="translate">-10.59619 -4.389087 0</translate>
          </mass_frame>
          <inertia>1.79689e8 4.55514e8 4.14019e8</inertia>
          <physics_material id="pCube1RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
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          </physics_material>
          <shape>
            <density>1000</density>
            <box>
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            </box>
            <extra>
              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
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                  <px:contact_offset>0.00130936</px:contact_offset>
                  <px:name>|pCube1|pCube1RigidBody1|pCube1RigidBodyShape1Transform|pCube1RigidBodyShape1</px:name>
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              </technique>
            </extra>
          </shape>
          <shape>
            <density>1000</density>
            <box>
              <half_extents>12 1.00001 12</half_extents>
            </box>
            <translate sid="translate">-21.1924 8.77817 0</translate>
            <rotate sid="rotateZ">0 0 1 -44.99993</rotate>
            <extra>
              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
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                  <px:contact_offset>0.00130936</px:contact_offset>
                  <px:name>|pCube1|pCube1RigidBody1|pCube1RigidBody1Shape1Transform|pCube1RigidBody1Shape1</px:name>
                </px:px_shape>
              </technique>
            </extra>
          </shape>
        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
            <px:px_rigid_body>
              <px:global_pose>0 0 0 1 0 -1 0 </px:global_pose>
            </px:px_rigid_body>
          </technique>
        </extra>
      </rigid_body>
      <rigid_body sid="pPipe1RigidBody1" name="pPipe1RigidBody1">
        <technique_common>
          <dynamic>0</dynamic>
          <inertia>1.09333e7 1.33333e7 1.09333e7</inertia>
          <physics_material id="pPipe1RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
            </technique_common>
          </physics_material>
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            <density>1000</density>
            <instance_geometry url="#pPipeShape1"/>
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              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
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                  <px:contact_offset>0.00130936</px:contact_offset>
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              </technique>
            </extra>
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        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
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            </px:px_rigid_body>
          </technique>
        </extra>
      </rigid_body>
      <rigid_body sid="pCube2RigidBody1" name="pCube2RigidBody1">
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          <dynamic>1</dynamic>
          <mass_frame>
            <translate sid="translate">0.003600999 -0.001142868 2.86651e-4</translate>
          </mass_frame>
          <inertia>166.683 166.683 166.683</inertia>
          <physics_material id="pCube2RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
            </technique_common>
          </physics_material>
          <shape>
            <density>1000</density>
            <box>
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            </box>
            <translate sid="translate">3.601e-5 -1.14287e-5 2.86651e-6</translate>
            <rotate sid="rotateX">1 0 0 90</rotate>
            <extra>
              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
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                  <px:contact_offset>0.00130936</px:contact_offset>
                  <px:name>|pCube2|pCube2RigidBody1|pCube2RigidBodyShape1Transform|pCube2RigidBodyShape1</px:name>
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              </technique>
            </extra>
          </shape>
        </technique_common>
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              <px:max_depenetration_velocity>1e32</px:max_depenetration_velocity>
              <px:sleep_threshold>5e-7</px:sleep_threshold>
              <px:stabilization_threshold>0.0024059</px:stabilization_threshold>
              <px:min_position_iters>8</px:min_position_iters>
              <px:min_velocity_iters>4</px:min_velocity_iters>
              <px:contact_report_threshold>3.40282e38</px:contact_report_threshold>
            </px:px_rigid_body>
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      </rigid_body>
      <rigid_body sid="pSphere1RigidBody1" name="pSphere1RigidBody1">
        <technique_common>
          <dynamic>1</dynamic>
          <mass_frame>
            <translate sid="translate">-3.56245e-4 0.001666701 -1.26991e-5</translate>
            <rotate sid="rotateY">0 1 0 90</rotate>
          </mass_frame>
          <inertia>52.3653 52.3653 52.3653</inertia>
          <physics_material id="pSphere1RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
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          </physics_material>
          <shape>
            <density>1000</density>
            <sphere>
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            </sphere>
            <translate sid="translate">-3.56245e-6 1.6667e-5 -1.26991e-7</translate>
            <extra>
              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
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                  <px:contact_offset>0.00130936</px:contact_offset>
                  <px:name>|pSphere1|pSphere1RigidBody1|pSphere1RigidBodyShape1Transform|pSphere1RigidBodyShape1</px:name>
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              </technique>
            </extra>
          </shape>
        </technique_common>
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              <px:stabilization_threshold>0.0024059</px:stabilization_threshold>
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              <px:min_velocity_iters>4</px:min_velocity_iters>
              <px:contact_report_threshold>3.40282e38</px:contact_report_threshold>
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        <technique_common>
          <dynamic>0</dynamic>
          <inertia>9.28e6 9.472e6 320000</inertia>
          <physics_material id="pasted__pCube2RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
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            <box>
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            <extra>
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            <rotate sid="rotateY">0 1 0 -16.9358</rotate>
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          <physics_material id="pCylinder1RigidBody1_material">
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            <capsule>
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              <radius>0.506755 0.506755</radius>
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            <translate sid="translate">4.04963e-5 2.39212e-5 4.12254e-6</translate>
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                  <px:name>|pCylinder1|pCylinder1RigidBody1|pCylinder1RigidBodyShape1Transform|pCylinder1RigidBodyShape1</px:name>
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              <px:min_velocity_iters>4</px:min_velocity_iters>
              <px:contact_report_threshold>3.40282e38</px:contact_report_threshold>
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          <dynamic>1</dynamic>
          <mass>1</mass>
          <mass_frame>
            <rotate sid="rotateY">0 1 0 -44.51553</rotate>
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          <inertia>3.55223 7.10273 3.55218</inertia>
          <physics_material id="pCylinder2RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
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          </physics_material>
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            <density>1000</density>
            <instance_geometry url="#pCylinderShape2_"/>
            <extra>
              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
                <px:px_shape>
                  <px:local_pose>0 0 0 1 0 0 0 </px:local_pose>
                  <px:simulation_filter_data>131074 1 0 0</px:simulation_filter_data>
                  <px:contact_offset>0.00130936</px:contact_offset>
                  <px:name>|pCylinder2|pCylinder2RigidBody1|pCylinder2RigidBodyShape1Transform|pCylinder2RigidBodyShape1</px:name>
                </px:px_shape>
              </technique>
            </extra>
          </shape>
        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
            <px:px_rigid_body>
              <px:global_pose>0 0 0.707107 0.707107 -8 6 2.27374e-13 </px:global_pose>
              <px:max_depenetration_velocity>1e32</px:max_depenetration_velocity>
              <px:sleep_threshold>5e-7</px:sleep_threshold>
              <px:stabilization_threshold>0.0024059</px:stabilization_threshold>
              <px:min_position_iters>8</px:min_position_iters>
              <px:min_velocity_iters>4</px:min_velocity_iters>
              <px:contact_report_threshold>3.40282e38</px:contact_report_threshold>
            </px:px_rigid_body>
          </technique>
        </extra>
      </rigid_body>
      <rigid_constraint sid="pCylinder2Constraint1" name="pCylinder2Constraint1">
        <ref_attachment rigid_body="">
          <translate sid="translate">-8 10 0</translate>
          <rotate sid="rotateZ">0 0 1 -44.99996</rotate>
          <rotate sid="rotateX">1 0 0 -90</rotate>
        </ref_attachment>
        <attachment rigid_body="#collada_physics_model/pCylinder2RigidBody1">
          <translate sid="translate">4 0 2.27374e-13</translate>
          <rotate sid="rotateZ">0 0 1 -180</rotate>
          <rotate sid="rotateX">1 0 0 90</rotate>
        </attachment>
        <technique_common>
          <limits>
            <swing_cone_and_twist>
              <min>-44.99999 0 -INF</min>
              <max>44.99999 0 INF</max>
            </swing_cone_and_twist>
          </limits>
          <spring>
            <angular>
              <stiffness>0</stiffness>
            </angular>
            <linear>
              <stiffness>0</stiffness>
            </linear>
          </spring>
        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
            <px:px_d6joint>
              <px:local_pose0>-0.653282 0.270598 -0.270598 0.653282 -8 10 0 </px:local_pose0>
              <px:local_pose1>0 0.707107 0.707107 0 4 0 0 </px:local_pose1>
              <px:break_force>3.40282e36</px:break_force>
              <px:break_torque>3.40282e34</px:break_torque>
              <px:projection_angular_tolerance>179.9998</px:projection_angular_tolerance>
              <px:limits_extra>
                <px:linear_extra>
                  <px:contact_distance>0.01</px:contact_distance>
                </px:linear_extra>
                <px:swing_cone_and_twist_extra>
                  <px:restitution>0.4 0</px:restitution>
                  <px:bounce_threshold>0.5 0.5</px:bounce_threshold>
                  <px:contact_distance>0.0392699 0.1</px:contact_distance>
                </px:swing_cone_and_twist_extra>
              </px:limits_extra>
              <px:spring_extra>
                <px:angular_extra>
                  <px:stiffness>0</px:stiffness>
                </px:angular_extra>
              </px:spring_extra>
              <px:drive>
                <px:linear_x>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.5</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:linear_x>
                <px:linear_y>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.5</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:linear_y>
                <px:linear_z>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.5</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:linear_z>
                <px:swing>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.523599</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:swing>
                <px:twist>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.523599</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:twist>
                <px:slerp>
                  <px:stiffness>0</px:stiffness>
                  <px:force_limit>0</px:force_limit>
                </px:slerp>
              </px:drive>
            </px:px_d6joint>
          </technique>
        </extra>
      </rigid_constraint>
    </physics_model>
  </library_physics_models>
  <library_physics_scenes>
    <physics_scene id="collada_physics_scene">
      <instance_physics_model sid="instancePhysicsModel" url="#collada_physics_model">
        <instance_rigid_body sid="groundPlane" body="groundPlane" target="">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_body sid="pCube1RigidBody1_0" body="pCube1RigidBody1" target="#_pCube1">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_body sid="pPipe1RigidBody1_1" body="pPipe1RigidBody1" target="#_pPipe1">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_body sid="pCube2RigidBody1_2" body="pCube2RigidBody1" target="#_pCube2">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_body sid="pSphere1RigidBody1_3" body="pSphere1RigidBody1" target="#_pSphere1">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_body sid="pasted__pCube2RigidBody1_4" body="pasted__pCube2RigidBody1" target="#_pasted__pCube2">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_body sid="pCylinder1RigidBody1_5" body="pCylinder1RigidBody1" target="#_pCylinder1">
          <technique_common>
            <velocity>0 10 0</velocity>
          </technique_common>
        </instance_rigid_body>
        <instance_rigid_body sid="pCylinder2RigidBody1_6" body="pCylinder2RigidBody1" target="#_pCylinder2">
          <technique_common/>
        </instance_rigid_body>
        <instance_rigid_constraint sid="pCylinder2Constraint1_0" constraint="pCylinder2Constraint1"/>
      </instance_physics_model>
      <technique_common>
        <gravity>0 -9.81 0</gravity>
      </technique_common>
    </physics_scene>
  </library_physics_scenes>
  <library_visual_scenes>
    <visual_scene id="VisualSceneNode" name="physx">
      <node id="_PhysX" name="PhysX" type="NODE">
        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">PhysX</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pCube1" name="pCube1" type="NODE">
        <matrix sid="transform">1 0 0 0 0 1 0 -1 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#pCubeShape1">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pCube1_pCube1RigidBody1" name="pCube1RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pCube1_pCube1RigidBody1_pCube1RigidBodyShape1Transform" name="pCube1RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube1RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <node id="_pCube1_pCube1RigidBody1_pCube1RigidBody1Shape1Transform" name="pCube1RigidBody1Shape1Transform" type="NODE">
            <matrix sid="transform">0.7071068 0.7071068 0 -21.19239 -0.7071068 0.7071068 0 8.778175 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube1RigidBody1Shape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube1RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pPipe1" name="pPipe1" type="NODE">
        <matrix sid="transform">0 -1 0 -12 1 0 0 6 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#pPipeShape1">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pPipe1_pPipe1RigidBody1" name="pPipe1RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pPipe1_pPipe1RigidBody1_pPipe1RigidBodyShape1Transform" name="pPipe1RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pPipe1RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pPipe1RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pPipe1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pCube2" name="pCube2" type="NODE">
        <matrix sid="transform">1 0 0 -25.83354 0 1 0 15.72151 0 0 1 7.972977 0 0 0 1</matrix>
        <instance_geometry url="#pCubeShape2">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pCube2_pCube2RigidBody1" name="pCube2RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pCube2_pCube2RigidBody1_pCube2RigidBodyShape1Transform" name="pCube2RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube2RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube2RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pCube2</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pSphere1" name="pSphere1" type="NODE">
        <matrix sid="transform">1 0 0 -25.6092 0 1 0 15.93258 0 0 1 0.9792801 0 0 0 1</matrix>
        <instance_geometry url="#pSphereShape1">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pSphere1_pSphere1RigidBody1" name="pSphere1RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pSphere1_pSphere1RigidBody1_pSphere1RigidBodyShape1Transform" name="pSphere1RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pSphere1RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pSphere1RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pSphere1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pasted__pCube1" name="pasted__pCube1" type="NODE">
        <matrix sid="transform">0.7071068 0.7071068 0 -21.19239 -0.7071068 0.7071068 0 7.778175 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#pasted__pCubeShape1">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pasted__pCube1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pasted__pCube2" name="pasted__pCube2" type="NODE">
        <matrix sid="transform">0 -1 0 13 1 0 0 2 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#pasted__pCubeShape2">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pasted__pCube2_pasted__pCube2RigidBody1" name="pasted__pCube2RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pasted__pCube2_pasted__pCube2RigidBody1_pasted__pCube2RigidBodyShape1Transform" name="pasted__pCube2RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pasted__pCube2RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pasted__pCube2RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pasted__pCube2</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pCylinder1" name="pCylinder1" type="NODE">
        <matrix sid="transform">1 0 0 -25.58108 0 1 0 15.80566 0 0 1 -6.640054 0 0 0 1</matrix>
        <instance_geometry url="#pCylinderShape1">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pCylinder1_pasted__pSphere2" name="pasted__pSphere2" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0.5 0 0 1 0 0 0 0 1</matrix>
          <instance_geometry url="#pasted__pSphereShape2">
            <bind_material>
              <technique_common>
                <instance_material symbol="initialShadingGroup" target="#lambert1"/>
              </technique_common>
            </bind_material>
          </instance_geometry>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pasted__pSphere2</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <node id="_pCylinder1_pSphere2" name="pSphere2" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 -0.5 0 0 1 0 0 0 0 1</matrix>
          <instance_geometry url="#pSphereShape2">
            <bind_material>
              <technique_common>
                <instance_material symbol="initialShadingGroup" target="#lambert1"/>
              </technique_common>
            </bind_material>
          </instance_geometry>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pSphere2</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <node id="_pCylinder1_pCylinder1RigidBody1" name="pCylinder1RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pCylinder1_pCylinder1RigidBody1_pCylinder1RigidBodyShape1Transform" name="pCylinder1RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pCylinder1RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pCylinder1RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pCylinder1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pCylinder2" name="pCylinder2" type="NODE">
        <matrix sid="transform">0 -1 0 -8 1 0 0 6 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#pCylinderShape2">
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
        <node id="_pCylinder2_pCylinder2RigidBody1" name="pCylinder2RigidBody1" type="NODE">
          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
          <node id="_pCylinder2_pCylinder2RigidBody1_pCylinder2RigidBodyShape1Transform" name="pCylinder2RigidBodyShape1Transform" type="NODE">
            <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
            <extra>
              <technique profile="OpenCOLLADAMaya">
                <originalMayaNodeId sid="originalMayaNodeId" type="string">pCylinder2RigidBodyShape1Transform</originalMayaNodeId>
              </technique>
            </extra>
          </node>
          <extra>
            <technique profile="OpenCOLLADAMaya">
              <originalMayaNodeId sid="originalMayaNodeId" type="string">pCylinder2RigidBody1</originalMayaNodeId>
            </technique>
          </extra>
        </node>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pCylinder2</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_transform1" name="transform1" type="NODE">
        <matrix sid="transform">1 0 0 -8 0 1 0 6 0 0 1 0 0 0 0 1</matrix>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">transform1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
      <node id="_pointLight1" name="pointLight1" type="NODE">
        <matrix sid="transform">1 0 0 0 0 1 0 12.23694 0 0 1 5.216355 0 0 0 1</matrix>
        <instance_light url="#_pointLight1_pointLightShape1"/>
        <extra>
          <technique profile="OpenCOLLADAMaya">
            <originalMayaNodeId sid="originalMayaNodeId" type="string">pointLight1</originalMayaNodeId>
          </technique>
        </extra>
      </node>
    </visual_scene>
  </library_visual_scenes>
  <scene>
    <instance_physics_scene url="#collada_physics_scene"/>
    <instance_visual_scene url="#VisualSceneNode"/>
  </scene>
</COLLADA>