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<Node name="root" dt="0.02" showVisualModels="0" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" >
<!-- <Object type="Simulation" name="Simulation" /> -->
<Object type="CollisionPipeline" verbose="0" name="CollisionPipeline"/>
<Object type="BruteForceDetection" name="N2" />
<Object type="CollisionResponse" response="default" name="collision response"/>
<!--<Object type="CollisionGroup" />-->
<Node name="Liver" >
<Object type="EulerImplicit" name="cg_odesolver" printLog="false"/>
<Object type="CGLinearSolver" iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<Object type="MeshLoader" name="meshLoader" filename="mesh/liver.msh"/>
<Object type="Mesh"/>
<Object type="MechanicalObject" template="Vec3f" name="dofs"/>
<Object type="UniformMass" name="mass" mass="0.05"/>
<Object type="TetrahedronFEMForceField" name="FEM" youngModulus="500" poissonRatio="0.3" computeGlobalMatrix="false" method="large"/>
<Object type="BoxConstraint" box="-5 0 -1 -2 1 2" />
<Node name="Visu">
<Object type="OglModel" name="VisualModel" fileMesh="mesh/liver-smooth.obj" color="red" />
<Object type="BarycentricMapping" object1="../.." object2="VisualModel" name="visual mapping"/>
</Node>
<Node name="Surf">
<Object type="Sphere" name="CollisionModel" filename="mesh/liver.sph" />
<MechanicalObject/>
<Object type="BarycentricMapping" name="sphere mapping"/>
</Node>
</Node>
</Node>
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