<?xml version="1.0" ?>
<!-- See https://wiki.sofa-framework.org/wiki/TutorialTopologyVolumeMesh -->
<Node name="root" gravity="0 -9.86 0" dt="0.05">
    <!-- Basic Components to perform the collision detection -->
    <VisualStyle displayFlags="showBehaviorModels showVisual showWireframe" />
    <DefaultPipeline name="DefaultCollisionPipeline" verbose="0" />
    <BruteForceDetection name="Detection" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <DefaultContactManager name="Response" />
    <DefaultCollisionGroupManager name="Group" />
    <Node name="Cylinder Static Mesh">
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <MechanicalObject src="@loader" name="DOFs" template="Vec3d" translation="0 0 0" rotation="0 90 0" scale="10" />
        <FixedConstraint name="FixedConstraint" template="Vec3d" indices="0" />
        <UniformMass name="Mass" template="Vec3d" totalmass="50" />
        <EulerImplicitSolver name="cg_odesolver" printLog="0" />
        <CGLinearSolver name="linear solver" template="GraphScattered" iterations="25" tolerance="1e-09" threshold="1e-09" />
        <MeshTopology src="@loader" name="Static Mesh" fileTopology="mesh/cylinder.msh" />
        <MeshSpringForceField name="FEM-Bend" template="Vec3d" stiffness="100" damping="1" />
        <TetrahedronFEMForceField name="FEM" template="Vec3d" method="polar" poissonRatio="0.3" youngModulus="1116" assembling="0" />
        <TetrahedronModel name="Models" />
        <OglModel name="Visual" template="ExtVec3f" color="red" />
        <IdentityMapping name="Mapping" template="Vec3d,ExtVec3f" input="@." output="@Visual" />
    </Node>
    <Node name="Cylinder Regular Mesh">
        <MechanicalObject name="DOFs" template="Vec3d" translation="0 0 -10" rotation="0 0 -90" />
        <FixedConstraint name="FixedConstraint" template="Vec3d" indices="54 44 45 55" drawSize="0" />
        <UniformMass name="Mass" template="Vec3d" totalmass="500" />
        <EulerImplicitSolver name="cg_odesolver" printLog="0" />
        <CGLinearSolver name="linear solver" template="GraphScattered" iterations="25" tolerance="1e-09" threshold="1e-09" />
        <CylinderGridTopology name="Regular Mesh" n="10 10 10" axis="0 1 0" radius="2" length="10" />
        <MeshSpringForceField name="FEM-Bend" template="Vec3d" stiffness="100" damping="1" />
        <TetrahedronFEMForceField name="FEM" template="Vec3d" method="polar" poissonRatio="0.3" youngModulus="1116" assembling="0" />
        <OglModel name="Visual" template="ExtVec3f" color="blue" />
        <IdentityMapping name="Mapping" template="Vec3d,ExtVec3f" input="@." output="@Visual" />
    </Node>
    <Node name="Cylinder Dynamic Mesh">
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <MechanicalObject src="@loader" name="DOFs" template="Vec3d" translation="0 0 10" rotation="0 90 0" scale="10" />
        <FixedConstraint name="FixedConstraint" template="Vec3d" indices="0" />
        <UniformMass name="Mass" template="Vec3d" totalmass="50" />
        <EulerImplicitSolver name="cg_odesolver" printLog="0" />
        <CGLinearSolver name="linear solver" template="GraphScattered" iterations="25" tolerance="1e-09" threshold="1e-09" />
        <TetrahedronSetTopologyContainer src="@loader" name="Topology Container" fileTopology="mesh/cylinder.msh" />
        <TetrahedronSetTopologyModifier name="Topology Modifier" />
        <TetrahedronSetTopologyAlgorithms name="Topology Algorithms" template="Vec3d" />
        <TetrahedronSetGeometryAlgorithms name="Geometry Algorithms" template="Vec3d" />
        <MeshSpringForceField name="FEM-Bend" template="Vec3d" stiffness="100" damping="1" />
        <TetrahedronFEMForceField name="FEM" template="Vec3d" method="polar" poissonRatio="0.3" youngModulus="1116" assembling="0" />
        <TetrahedronModel name="Models" />
        <OglModel name="Visual" template="ExtVec3f" color="green" />
        <IdentityMapping name="Mapping" template="Vec3d,ExtVec3f" input="@." output="@Visual" />
    </Node>
</Node>
