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<?xml version="1.0" ?>
<!-- See https://wiki.sofa-framework.org/wiki/TutorialTopologyLinearMesh -->
<Node name="Root" gravity="0 -9.81 0" dt="0.02" showVisualModels="1" showBehaviorModels="1" showForceFields="1" showInteractionForceFields="1">
<!-- Basic Components to perform the collision detection -->
<DefaultPipeline name="DefaultCollisionPipeline" depth="6"/>
<BruteForceDetection name="Detection"/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2"/>
<DefaultContactManager name="Response"/>
<DefaultCollisionGroupManager name="Group"/>
<Node name="Pendulum Static Mesh">
<MechanicalObject template="Vec3d" name="DOF" position="0 0 4 1 0 4 2 0 4 3 0 4 4 0 4 5 0 4"/>
<UniformMass template="Vec3d" name="Mass" totalmass="1"/>
<CGLinearSolver template="GraphScattered" name="CG solver"/>
<EulerImplicitSolver name="EulerImplicit"/>
<FixedConstraint template="Vec3d" name="Fixed dof" indices="0"/>
<MeshTopology name="Static Mesh" edges="0 1 1 2 2 3 3 4 4 5 "/>
<MeshSpringForceField template="Vec3d" name="springs"/>
</Node>
<Node name="Pendulum No Mesh">
<MechanicalObject template="Vec3d" name="DOF" position="0 0 -4 1 0 -4 2 0 -4 3 0 -4 4 0 -4 5 0 -4"/>
<UniformMass template="Vec3d" name="Mass" totalmass="1"/>
<CGLinearSolver template="GraphScattered" name="CG solver"/>
<EulerImplicitSolver name="EulerImplicit"/>
<FixedConstraint template="Vec3d" name="Fixed dof" indices="0"/>
<MeshTopology name="Static Mesh"/>
<MeshSpringForceField template="Vec3d" name="springs"/>
</Node>
</Node>
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