<Node name="root" dt="0.02">
    <!-- <Simulation name="Simulation" /> -->
    <CollisionPipeline verbose="0" name="CollisionPipeline" />
    <BruteForceDetection name="N2" />
    <CollisionResponse response="default" name="collision response" />
    <DiscreteIntersection />
    <!--<CollisionGroup />-->
    <Node name="Liver" depend="topo dofs">
        <!--<CGImplicit iterations="25"/>-->
        <EulerImplicit name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshGmshLoader name="loader" filename="mesh/liver.msh" />
        <!-- Container for the tetrahedra-->
        <TetrahedronSetTopologyContainer src="@loader" name="topo" />
        <MechanicalObject src="@loader" name="dofs" />
        <!-- Algorithms: used in DiagonalMass to compute the mass -->
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
        <DiagonalMass massDensity="1" name="computed using mass density" />
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="3000" poissonRatio="0.3" computeGlobalMatrix="false" method="large" />
        <FixedConstraint name="FixedConstraint" indices="3 39 64" />
        <Node name="Visu" tags="Visual">
            <!-- Using material contained in liver-smooth.obj -->
            <OglModel name="VisualModel" fileMesh="mesh/liver-smooth.obj" />
            <BarycentricMapping input="@.." output="@VisualModel" name="visual mapping" />
        </Node>
        <Node name="Surf" tags="Surf">
            <SphereLoader name="loaderSphere" filename="mesh/liver.sph"/>
            <MechanicalObject position="@../dofs.position" />
            <SphereModel name="CollisionModel" listRadius="@loaderSphere.listRadius"  />
            <BarycentricMapping name="sphere mapping" />
        </Node>
    </Node>
</Node>
