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<Node name="root" dt="0.02" showBehaviorModels="0" showCollisionModels="0" showMappings="0" showForceFields="0" >
<!-- <Object type="Simulation" name="Simulation" /> -->
<CollisionPipeline verbose="0" name="CollisionPipeline"/>
<BruteForceDetection name="N2" />
<CollisionResponse response="default" name="collision response"/>
<!--<Object type="CollisionGroup" />-->
<Node name="Liver" depend="topo dofs">
<!--<Object type="CGImplicit" iterations="25"/>-->
<EulerImplicit name="cg_odesolver" printLog="false"/>
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshLoader name="meshLoader" filename="mesh/liver.msh"/>
<MechanicalObject name="dofs" />
<!-- Container for the tetrahedra-->
<TetrahedronSetTopologyContainer name="topo"/>
<!-- Algorithms: used in DiagonalMass to compute the mass -->
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
<DiagonalMass massDensity="1" name="computed using mass density"/>
<TetrahedralCorotationalFEMForceField name="FEM" youngModulus="500" poissonRatio="0.3" computeGlobalMatrix="false" method="large"/>
<FixedConstraint name="FixedConstraint" indices="3 39 64" />
<Node name="Visu">
<!-- Using material contained in liver-smooth.obj -->
<OglModel name="VisualModel" fileMesh="mesh/liver-smooth.obj" />
<BarycentricMapping object1="../.." object2="VisualModel" name="visual mapping"/>
</Node>
<Node name="Surf">
<Sphere name="CollisionModel" filename="mesh/liver.sph" />
<MechanicalObject/>
<BarycentricMapping name="sphere mapping"/>
</Node>
</Node>
<Object type="OglModel" name="VisualModel" filename="mesh/dragon.obj" color="green" dz="-5.0" scale="0.3 0.3 0.3" />
<Object type="OglModel" name="FloorV" filename="mesh/floor.obj" color="0.5 0.5 0.5" dy="-2.5" />
<Object type="LightManager" listening="true"/>
<Object type="SpotLight" position="0 30 0.0001" direction="0 -1 0" />
<Object type="SpotLight" position="0 5 15" direction="0 0 -1" />
<Object type="OglShadowShader"/>
</Node>
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