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<Node name="Instrument">
<Object type="MechanicalObject" position="0 0 0 0 1" template="LaparoscopicRigid3" name="laparo"/>
<Object type="CuttingManager" maxDistance="0.25" minDistance="0.01" edgeDistance="0.01" />
<Object type="DiscreteIntersection" />
<Object type="BruteForceDetection" />
<Node name="RigidLayer">
<Object type="MechanicalObject" template="Rigid" name="rigid"/>
<Object type="UniformMass" filename="Demos/Ophtalmo/data/mesh/Blade_instrument_centered.rigid" />
<Object type="LaparoscopicRigidMapping" pivot="0 0 0" />
<Node name="CollisionHandle">
<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Blade_instrument_handle.obj" />
<Object type="Mesh" />
<Object type="MechanicalObject" />
<Object type="Triangle" contactStiffness="10" simulated="0" moving="1" />
<Object type="RigidMapping" />
</Node>
<Node name="CollisionTip">
<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Blade_instrument_tip_rounded.obj" />
<Object type="Mesh" />
<Object type="MechanicalObject" />
<Object type="Triangle" contactStiffness="5" simulated="0" moving="1" />
<Object type="RigidMapping" />
</Node>
<Node name="CollisionCut" showCollisionModels="1" >
<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Blade_instrument_tip2.obj" />
<Object type="Mesh" />
<Object type="MechanicalObject" />
<Object type="SharpLineModel" minAngle="70" contactStiffness="0" contactDamping="0" simulated="0" moving="1" active="0" />
<Object type="RigidMapping" />
</Node>
<Node name="VisualHandle">
<Object type="OglModel" name="visual" fileMesh="Demos/Ophtalmo/data/mesh/Blade_instrument_handle.obj" color="0.1 0.1 0.1 1.0" />
<Object type="RigidMapping" object2="visual" />
</Node>
<Node name="VisualTip">
<Object type="OglModel" name="visual" fileMesh="Demos/Ophtalmo/data/mesh/Blade_instrument_tip.obj" />
<Object type="RigidMapping" object2="visual" />
</Node>
</Node>
<!-- Dummy Object, as Cutting Manager requires a dynamic topology at initialization -->
<Object type="MeshLoader" name="meshLoader" filename="mesh/square3.msh" />
<Object type="MechanicalObject" scale="10" />
<include href="Objects/TriangleSetTopology.xml" />
<Object type="Triangle"/>
</Node>
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