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<Node name="root" gravity="0 -.98 0" dt="0.5" showVisualModels="1" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0">
<Object type="MasterContactSolver"/>
<Object type="CollisionPipeline" verbose="0" draw="0"/>
<Object type="BruteForceDetection" name="N2" />
<Object type="MinProximityIntersection" name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
<Object type="CollisionResponse" name="Response" response="FrictionContact"/>
<Node name="articulatedObject1">
<!-- <Object type="ComplianceArticulatedSystemSolver"/> -->
<Object type="MechanicalObject" name="ArticulatedObject" template="Vec1d"/>
<Node name="6D_DOFs1">
<Object type="MechanicalObject" name="6D_Dof" template="Rigid"/>
<Object type="UniformMass" mass="0.5"/>
<Object type="ArticulatedSystemMapping" object1="ArticulatedObject" object2="6D_Dof"/>
</Node>
<Object type="ArticulatedHierarchyContainer" filename="BehaviorModels/manWalking.bvh"/>
<Object type="ArticulatedHierarchyBVHController" />
</Node>
<Node name="Floor">
<Object type="MeshLoader" name="meshLoader" filename="mesh/floor.obj"/>
<Object type="Mesh" />
<Object type="MechanicalObject" dy="-40.0" scale="2" />
<Object type="Triangle" name="Floor" simulated="0" moving="0" />
<Object type="Line" name="Floor" simulated="0" moving="0" />
<Object type="Point" name="Floor" simulated="0" moving="0" />
<Object type="OglModel" name="FloorV" fileMesh="mesh/floor.obj" texturename="textures/floor.png" scale="2" dy="-40.0"/>
</Node>
</Node>
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