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<Node name="root" dt="0.02" showBehaviorModels="0" showCollisionModels="0" showMappings="0" showInteractionForceFields="1">
<Object type="CollisionPipeline" depth="6" verbose="0" draw="0"/>
<Object type="BruteForceDetection" name="N2" />
<Object type="NewProximityIntersection" name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<Object type="CollisionResponse" name="Response" response="default" />
<Object type="CollisionGroup" name="Group" />
<Object type="EulerImplicit" />
<Object type="CGLinearSolver" iterations="25" />
<Node name="Liver1">
<!--<Object type="CGImplicit" iterations="25"/>-->
<Object type="EulerImplicit"/>
<Object type="CGLinearSolver" iterations="25"/>
<Object type="MeshLoader" name="meshLoader" filename="mesh/liver.msh"/>
<Object type="Mesh"/>
<Object type="MechanicalObject" template="Vec3d" name="Liver1MS" />
<Object type="UniformMass" name="mass" mass="0.05"/>
<Object type="TetrahedronFEMForceField" name="FEM" youngModulus="2000" poissonRatio="0.3" computeGlobalMatrix="false" method="large"/>
<Object type="FixedConstraint" name="FixedConstraint" indices="3 39 64" />
<Node name="Visu">
<Object type="OglModel" name="VisualModel" fileMesh="mesh/liver-smooth.obj" color="red" />
<Object type="BarycentricMapping" object1="../.." object2="VisualModel" />
</Node>
<Node name="Surf">
<Object type="Sphere" name="CollisionModel" filename="mesh/liver.sph" />
<MechanicalObject/>
<Object type="BarycentricMapping" />
</Node>
</Node>
<Node name="Liver2">
<!--<Object type="CGImplicit" iterations="25"/>-->
<Object type="EulerImplicit"/>
<Object type="CGLinearSolver" iterations="25"/>
<Object type="MeshLoader" name="meshLoader" filename="mesh/liver.msh"/>
<Object type="Mesh"/>
<Object type="MechanicalObject" template="Vec3d" name="Liver2MS" dx="10" ry="180"/>
<Object type="UniformMass" name="mass" mass="0.05"/>
<Object type="TetrahedronFEMForceField" name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="large"/>
<Node name="Visu">
<Object type="OglModel" name="VisualModel" fileMesh="mesh/liver-smooth.obj" color="blue" dx="10" ry="180" />
<Object type="BarycentricMapping" object1="../.." object2="VisualModel" />
</Node>
<Node name="Surf">
<Object type="Sphere" name="CollisionModel" filename="mesh/liver.sph" />
<MechanicalObject dx="10" ry="180"/>
<Object type="BarycentricMapping" />
</Node>
</Node>
<Node name="Liver3">
<!--<Object type="CGImplicit" iterations="25"/>-->
<Object type="EulerImplicit"/>
<Object type="CGLinearSolver" iterations="25"/>
<Object type="MeshLoader" name="meshLoader" filename="mesh/liver.msh"/>
<Object type="Mesh"/>
<Object type="MechanicalObject" template="Vec3d" name="Liver3MS" dx="20" ry="90"/>
<Object type="UniformMass" name="mass" mass="0.05"/>
<!-- <Object type="FixedConstraint" name="FixedConstraint" indices="3 39 64" /> -->
<Object type="TetrahedronFEMForceField" name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="large"/>
<Node name="Visu">
<Object type="OglModel" name="VisualModel" fileMesh="mesh/liver-smooth.obj" color="magenta" dx="20" ry="90"/>
<Object type="BarycentricMapping" object1="../.." object2="VisualModel" />
</Node>
<Node name="Surf">
<Object type="Sphere" name="CollisionModel" filename="mesh/liver.sph"/>
<MechanicalObject dx="20" ry="90"/>
<Object type="BarycentricMapping" />
</Node>
</Node>
<Object type="BoxStiffSpringForceField" template="Vec3d" name="Spring" stiffness="100000" object1="Liver1/Surf" object2="Liver2/Surf" box_object1="0.5 3 -1 2 6 2" box_object2="7 3 -1 9.5 6 2" />
<Object type="BoxStiffSpringForceField" template="Vec3d" name="Spring" stiffness="1000000" object1="Liver2" object2="Liver3" box_object1="13 0 -3 15 1 2" box_object2="18 3 -1 20 6 0" />
</Node>
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