<?xml version="1.0" ?>
<!-- See https://wiki.sofa-framework.org/wiki/TutorialTopologyVolumeToSurfaceTopologicalMapping -->
<Node name="root" gravity="0 -9.81 1" dt="0.05">
    <!-- Basic Components to perform the collision detection -->
    <VisualStyle displayFlags="showBehaviorModels showVisual showWireframe" />
    <DefaultPipeline name="DefaultCollisionPipeline" depth="6" />
    <BruteForceDetection name="Detection" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <DefaultContactManager name="Response" />
    <DefaultCollisionGroupManager name="Group" />
    <Node name="Cube">
        <MeshGmshLoader name="loader" filename="mesh/nine_hexa.msh" />
        <EulerImplicitSolver name="cg_odesolver" printLog="0" />
        <CGLinearSolver template="GraphScattered" name="linear solver" iterations="25" tolerance="1e-09" threshold="1e-09" />
        <MechanicalObject src="@loader" template="Vec3d" name="Hexa" />
        <UniformMass template="Vec3d" name="Mass" mass="0.25" />
        <HexahedronSetTopologyContainer src="@loader" name="Container" />
        <HexahedronSetTopologyModifier name="Modifier" />
        <HexahedronSetTopologyAlgorithms name="TopoAlgo" template="Vec3d" />
        <HexahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawHexa="1" drawColorHexahedra="1.0 1.0 0.3" />
        <!--    <RegularGridTopology name="grid" n="6 6 6" min="-10 -10 -10" max="10 10 10" 
      p0="-10 -10 -10"/>-->
        <HexahedronFEMForceField name="FEM" template="Vec3d" poissonRatio="0.45" youngModulus="5000"/>
        <FixedConstraint template="Vec3d" name="Fixed Dofs" indices="12 15 28 31" drawSize="0" />
        <Node name="Q">
            <QuadSetTopologyContainer name="Container" />
            <QuadSetTopologyModifier name="Modifier" />
            <QuadSetTopologyAlgorithms template="Vec3d" name="TopoAlgo" />
            <QuadSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />
            <Hexa2QuadTopologicalMapping name="default6" input="@../Container" output="@Container" />
            <QuadularBendingSprings template="Vec3d" name="FEM-Bend" stiffness="3000" damping="1" />
            <TriangleModel name="default7" />
            <Node name="Visu">
                <OglModel template="ExtVec3f" name="Visual" color="green" />
                <IdentityMapping template="Vec3d,ExtVec3f" name="default8" input="@../../Hexa" output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>
