<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:java="http://www.yworks.com/xml/yfiles-common/1.0/java" xmlns:sys="http://www.yworks.com/xml/yfiles-common/markup/primitives/2.0" xmlns:x="http://www.yworks.com/xml/yfiles-common/markup/2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:y="http://www.yworks.com/xml/graphml" xmlns:yed="http://www.yworks.com/xml/yed/3" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd">
  <!--Created by yEd 3.17.2-->
  <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
  <key for="port" id="d1" yfiles.type="portgraphics"/>
  <key for="port" id="d2" yfiles.type="portgeometry"/>
  <key for="port" id="d3" yfiles.type="portuserdata"/>
  <key attr.name="url" attr.type="string" for="node" id="d4"/>
  <key attr.name="description" attr.type="string" for="node" id="d5"/>
  <key for="node" id="d6" yfiles.type="nodegraphics"/>
  <key for="graphml" id="d7" yfiles.type="resources"/>
  <key attr.name="url" attr.type="string" for="edge" id="d8"/>
  <key attr.name="description" attr.type="string" for="edge" id="d9"/>
  <key for="edge" id="d10" yfiles.type="edgegraphics"/>
  <graph edgedefault="directed" id="G">
    <data key="d0"/>
    <node id="n0">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="723.0" y="132.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="60.958984375" x="55.5205078125" y="5.93359375">numerics<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n1">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="723.0" y="67.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="61.09375" x="55.453125" y="5.93359375">externals<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n2">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="723.0" y="197.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="42.89453125" x="64.552734375" y="5.93359375">kernel<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n3">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="521.0" y="262.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="47.81640625" x="62.091796875" y="5.93359375">control<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n4">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="975.5" y="197.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="68.9453125" x="51.52734375" y="5.93359375">mechanics<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n5">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="723.0" y="262.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="80.98046875" x="45.509765625" y="5.93359375">mechanisms<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n6">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="975.5" y="262.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="15.56640625" x="78.216796875" y="5.93359375">io<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n7">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="89.0" x="1017.0" y="74.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="12.8359375" x="38.08203125" y="5.93359375">A<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n8">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="89.0" x="1136.0" y="74.0"/>
          <y:Fill color="#93C54B" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="11.55859375" x="38.720703125" y="5.93359375">B<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n9">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="89.0" x="1274.0" y="74.0"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle hasColor="false" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="175.603515625" x="-43.3017578125" y="5.93359375">:  B depends on (requires) A<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="roundrectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n10">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="1168.5" y="121.5"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="112.673828125" x="29.6630859375" y="5.93359375">contact_detection<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n11">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="1191.0" y="175.25"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="32.265625" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="134.130859375" x="18.9345703125" y="-1.1328125">bullet
-DWITH_BULLET=ON<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n12">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="1265.0" y="276.5"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="32.265625" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="113.927734375" x="29.0361328125" y="-1.1328125">oce
-DWITH_OCE=ON<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <node id="n13">
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="30.0" width="172.0" x="1265.0" y="220.0"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="bold" hasBackgroundColor="false" hasLineColor="false" height="18.1328125" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="83.271484375" x="44.3642578125" y="5.93359375">3D modeling<y:LabelModel>
              <y:SmartNodeLabelModel distance="4.0"/>
            </y:LabelModel>
            <y:ModelParameter>
              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
            </y:ModelParameter>
          </y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
    </node>
    <edge id="e0" source="n0" target="n1">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e1" source="n2" target="n0">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e2" source="n3" target="n2">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0">
            <y:Point x="607.0" y="212.0"/>
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e3" source="n8" target="n7">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e4" source="n6" target="n4">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e5" source="n4" target="n2">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="59.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e6" source="n11" target="n10">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="-22.5" sy="8.125" tx="0.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e7" source="n10" target="n4">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="-74.0" sy="0.0" tx="0.0" ty="0.0">
            <y:Point x="1180.5" y="212.0"/>
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e8" source="n12" target="n13">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0"/>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e9" source="n13" target="n4">
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="80.5" ty="10.0">
            <y:Point x="1180.5" y="235.0"/>
            <y:Point x="1180.5" y="222.0"/>
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
    <edge id="e10" source="n5" target="n4">
      <data key="d9"/>
      <data key="d10">
        <y:PolyLineEdge>
          <y:Path sx="0.0" sy="0.0" tx="-79.0" ty="7.0">
            <y:Point x="944.5" y="277.0"/>
            <y:Point x="944.5" y="219.0"/>
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
    </edge>
  </graph>
  <data key="d7">
    <y:Resources/>
  </data>
</graphml>
