<!-- Hierarchical Group Basic Test -->
<Node name="root" dt="0.01">
    <VisualStyle displayFlags="showForceFields" />
    <CollisionPipeline verbose="0" draw="0" />
    <BruteForceDetection name="N2" />
    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
    <CollisionResponse name="Response" response="default" />
    <MeshGmshLoader name="meshLoader" filename="mesh/smCube27.msh" />
    <Node name="M1">
        <EulerImplicit />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject src="@../meshLoader" dz="-21.0" />
        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
        <StiffSpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
        <Node name="Visu">
            <OglModel name="Visual" filename="mesh/smCube27.obj" color="yellow" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf">
            <MeshObjLoader filename="mesh/smCube27.obj" name="loader" />
            <Mesh src="@loader" />
            <MechanicalObject src="@loader" />
            <Triangle />
            <Line />
            <Point />
            <IdentityMapping />
        </Node>
    </Node>
    <Node name="M2">
        <EulerImplicit />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid" dz="-10.5" />
        <UniformMass filename="BehaviorModels/rigid.xs3" />
        <Node name="Points">
            <MechanicalObject template="Vec3d" src="@../../meshLoader"/>
            <RigidMapping />
        </Node>
        <Node name="Surf">
            <MeshObjLoader filename="mesh/smCube27.obj" name="loader" />
            <Mesh src="@loader" />
            <MechanicalObject src="@loader" />
            <Triangle />
            <Line />
            <Point />
            <RigidMapping />
        </Node>
        <Node name="Visu">
            <OglModel name="Visual" filename="mesh/smCube27.obj" />
            <RigidMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="M3">
        <EulerImplicit />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject src="@../meshLoader" />
        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
        <StiffSpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
        <Node name="Visu">
            <OglModel name="Visual" filename="mesh/smCube27.obj" color="red" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf">
            <MeshObjLoader filename="mesh/smCube27.obj" name="loader" />
            <Mesh src="@loader" />
            <MechanicalObject src="@loader" />
            <Triangle />
            <Line />
            <Point />
            <IdentityMapping />
        </Node>
    </Node>
    <Node name="M4">
        <EulerImplicit />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid" dz="10.5" />
        <UniformMass filename="BehaviorModels/rigid.xs3" />
        <Node name="Points">
            <MechanicalObject template="Vec3d" src="@../../meshLoader"/>
            <RigidMapping />
            <Node name="Visu">
                <OglModel name="Visual" filename="mesh/smCube27.obj" />
                <IdentityMapping input="@.." output="@Visual" />
            </Node>
        </Node>
        <Node name="Surf">
            <MeshObjLoader filename="mesh/smCube27.obj" name="loader" />
            <Mesh src="@loader" />
            <MechanicalObject src="@loader" />
            <Triangle />
            <Line />
            <Point />
            <RigidMapping />
        </Node>
    </Node>
    <Node name="M5">
        <EulerImplicit />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5" />
        <MechanicalObject src="@../meshLoader" dz="21" />
        <DiagonalMass filename="BehaviorModels/smCube27.xs3" />
        <StiffSpringForceField name="Springs" filename="BehaviorModels/smCube27.xs3" />
        <Node name="Visu">
            <OglModel name="Visual" filename="mesh/smCube27.obj" color="cyan" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf">
            <MeshObjLoader filename="mesh/smCube27.obj" name="loader" />
            <Mesh src="@loader" />
            <MechanicalObject src="@loader" />
            <Triangle />
            <Line />
            <Point />
            <IdentityMapping />
        </Node>
    </Node>
    <Node name="M6">
        <EulerImplicit />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid" dz="31.5" />
        <UniformMass filename="BehaviorModels/rigid.xs3" />
        <Node name="Points">
            <MechanicalObject template="Vec3d" src="@../../meshLoader"/>
            <RigidMapping />
        </Node>
        <Node name="Visu">
            <OglModel name="Visual" filename="mesh/dragon.obj" color="gray" />
            <RigidMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf">
            <MeshObjLoader filename="mesh/dragon.obj" name="loader" />
            <Mesh src="@loader" />
            <MechanicalObject src="@loader" />
            <Triangle />
            <Line />
            <Point />
            <RigidMapping />
        </Node>
    </Node>
    <Node name="Floor">
        <MeshObjLoader filename="mesh/floor.obj" name="loader" />
        <Mesh src="@loader" />
        <MechanicalObject src="@loader" dy="-20" />
        <Triangle name="Floor" simulated="0" moving="0" />
        <Line name="Floor" simulated="0" moving="0" />
        <Point name="Floor" simulated="0" moving="0" />
        <OglModel name="FloorV" filename="mesh/floor.obj" texturename="textures/floor.bmp" dy="-20" />
    </Node>
</Node>
