<?xml version="1.0" ?>
<!-- See http://wiki.sofa-framework.org/wiki/TutorialCollisionMultipleGroupsSolver.scn -->
<Node name="root" dt="0.01" gravity="0 0 -9.81">
    <!-- Basic Components to perform the collision detection -->
    <VisualStyle displayFlags="showForceFields showCollisionModels" />
    <CollisionPipeline />
    <BruteForceDetection />
    <DefaultContactManager />
    <MinProximityIntersection alarmDistance="0.5" contactDistance="0.2" />
    <!-- Component Creating dynamic collision group -->
    <DefaultCollisionGroupManager />
    <Node name="CubeSphere1">
        <EulerImplicitSolver name="EulerImplicit" />
        <CGLinearSolver name="CG Solver" />
        <MechanicalObject name="Particles" template="Vec3d" position="0 0 1  1 0 1  0 1 1  1 1 1  0 0 2  1 0 2  0 1 2  1 1 2" translation="-2 1 2" />
        <MeshTopology name="Topology" hexas="0 4 6 2 1 5 7 3" />
        <UniformMass name="Mass" totalmass="1" />
        <MeshSpringForceField name="Springs" stiffness="100" damping="1" />
        <!-- Collision Model -->
        <SphereModel name="Triangles Cube" radius="0.4" />
    </Node>
    <Node name="CubeSphere2">
        <EulerImplicitSolver name="EulerImplicit" />
        <CGLinearSolver name="CG Solver" />
        <MechanicalObject name="Particles" template="Vec3d" position="0 0 1  1 0 1  0 1 1  1 1 1  0 0 2  1 0 2  0 1 2  1 1 2" translation="0 0 6" />
        <MeshTopology name="Topology" hexas="0 4 6 2 1 5 7 3" />
        <UniformMass name="Mass" totalmass="1" />
        <MeshSpringForceField name="Springs" stiffness="100" damping="1" />
        <!-- Collision Model -->
        <SphereModel name="Spheres Cube" radius="0.4" />
    </Node>
    <Node name="CubeGeometry1">
        <EulerImplicitSolver name="EulerImplicit" />
        <CGLinearSolver name="CG Solver" />
        <MechanicalObject name="Particles" template="Vec3d" position="0 0 1  1 0 1  0 1 1  1 1 1  0 0 2  1 0 2  0 1 2  1 1 2" translation="0 1 2" />
        <MeshTopology name="Topology" hexas="0 4 6 2 1 5 7 3" />
        <UniformMass name="Mass" totalmass="1" />
        <MeshSpringForceField name="Springs" stiffness="100" damping="1" />
        <!-- Collision Models -->
        <TriangleModel name="Triangles CubeGeometry1" />
        <LineModel name="Lines CubeGeometry1" />
        <PointModel name="Points CubeGeometry1" />
    </Node>
    <Node name="CubeGeometry2">
        <EulerImplicitSolver name="EulerImplicit" />
        <CGLinearSolver name="CG Solver" />
        <MechanicalObject name="Particles" template="Vec3d" position="0 0 1  1 0 1  0 1 1  1 1 1  0 0 2  1 0 2  0 1 2  1 1 2" translation="2 1 2" />
        <MeshTopology name="Topology" hexas="0 4 6 2 1 5 7 3" />
        <UniformMass name="Mass" totalmass="1" />
        <MeshSpringForceField name="Springs" stiffness="100" damping="1" />
        <!-- Collision Models -->
        <TriangleModel name="Triangles CubeGeometry2" />
        <LineModel name="Lines CubeGeometry2" />
        <PointModel name="Points CubeGeometry2" />
    </Node>
    <Node name="SaladBowl">
        <MeshTopology name="Topology Salad Bowl" filename="mesh/SaladBowl.obj" />
        <MechanicalObject name="Particles Salad Bowl" scale="10" />
        <TriangleModel name="Triangles Salad Bowl" moving="0" simulated="0" />
        <LineModel name="Lines Salad Bowl" moving="0" simulated="0" />
        <PointModel name="Points Salad Bowl" moving="0" simulated="0" />
    </Node>
</Node>
