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<Node name="Rigid">
<Object type="EulerImplicitSolver" rayleighStiffness="0.01" />
<Object type="CGLinearSolver" iterations="25" threshold="0.00000001" />
<Object type="MechanicalObject" template="Rigid" dx="0" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
<Object type="UniformMass" />
<Node name="VisualNode">
<Object type="OglModel" name="Visual" filename="file" color="gray" scale="1" />
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
<Node name="CollisionNode">
<Object type="MeshLoader" filename="file"/>
<Object type="Mesh" />
<Object type="MechanicalObject" scale="1" />
<Object type="Triangle" contactStiffness="10" contactFriction="0.01"/>
<Object type="Line" contactStiffness="10" contactFriction="0.01"/>
<Object type="Point" contactStiffness="10" contactFriction="0.01"/>
<Object type="RigidMapping" />
</Node>
</Node>
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