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<!-- WARNING! in Sofa, no tools are provided to generate SphereTrees like lamp600-medial.sph. We may accept any contribution from developers eager to use this method, and willing to create a generation tool. -->
<!-- Definition time-step and setting of display -->
<Node name="root" dt="0.005" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1">
<!-- Required for collision detection -->
<Object type="CollisionPipeline" verbose="0" />
<Object type="BruteForceDetection" name="Detection" />
<Object type="CollisionResponse" name="Response" response="default" />
<Node name="lamp1">
<Object type="EulerImplicit" name="cg_odesolver" printLog="false"/>
<Object type="CGLinearSolver" iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<Object type="MechanicalObject" template="Rigid" dx="5" dy="10.0" dz="0.0" />
<Object type="UniformMass" totalmass="100"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/lamp600.obj" texturename="textures/FIFA2.png" scale="0.1" color="gray" />
<Object type="RigidMapping" object1="../.." object2="../Visual" />
</Node>
<Node name="Surf">
<Object type="SphereTree" filename="mesh/lamp600-medial.sph" simulated="1" moving="1" scale="0.1" />
<Object type="RigidMapping" />
</Node>
</Node>
<!-- Definition of static models model -->
<Object type="SphereTree" name="lamp2" filename="mesh/lamp600-medial.sph" simulated="0" moving="0" scale="0.1" dx="-8" dy="-1" dz="10" />
<Object type="OglModel" name="lamp2" fileMesh="mesh/lamp600.obj" texturename="textures/brushed_metal.png" scale="0.1" dx="-8" dy="-1" dz="10"/>
<Object type="SphereTree" name="lamp3" filename="mesh/lamp600-medial.sph" simulated="0" moving="0" scale="0.1" dx="8" dy="-2" dz="-10"/>
<Object type="OglModel" name="lamp3" fileMesh="mesh/lamp600.obj" texturename="textures/floor.png" scale="0.1" dx="8" dy="-2" dz="-10"/>
</Node>
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