<?xml version="1.0" encoding="UTF-8"?>
<!-- Siconos is a program dedicated to modeling, simulation and control-->
<!-- of non smooth dynamical systems.-->
<!---->
<!-- Copyright 2020 INRIA.-->
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<!-- Licensed under the Apache License, Version 2.0 (the "License");-->
<!-- you may not use this file except in compliance with the License.-->
<!-- You may obtain a copy of the License at-->
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<!-- http://www.apache.org/licenses/LICENSE-2.0-->
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<!-- Unless required by applicable law or agreed to in writing, software-->
<!-- distributed under the License is distributed on an "AS IS" BASIS,-->
<!-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.-->
<!-- See the License for the specific language governing permissions and-->
<!-- limitations under the License.-->
<!--	-->

<!-- SICONOS Model XML file -->

<SiconosModel>
	<NSDS bvp='false'>
		<!-- DSs defined in the problem -->
		<DS_Definition>		
			<LagrangianLinearTIDS number='3'>
	 			<StepsInMemory>1</StepsInMemory>				
				<q0 vectorSize='3'>
					1.0 0.0 0.0
				</q0>
				<Velocity0  vectorSize='3'>
					0.0 0.0 0.0
				</Velocity0>
				<FExt vectorPlugin="TestPlugin:computeFExt"/>
				<M matrixRowSize='3' matrixColSize='3'>	
					<row>1.0 0.0 0.0</row>
					<row>0.0 1.0 0.0</row>
					<row>0.0 0.0 1.0</row>
				</M>			
			</LagrangianLinearTIDS>
		</DS_Definition>
		<!-- Interactions defined in the problem -->		
			<Interaction number='12' Id='Ball-Ground'>
				<size> 1 </size>
				<!-- List of couple of DS concerned by this interaction -->
		               <DS_Concerned vectorSize='1'>3</DS_Concerned>
				<!-- Relation of this interaction -->				
				<Interaction_Content>		
					<LagrangianRelation type="Compliant">
                                             <h plugin="TestPlugin:hCompl"/>
                                             <jacobianH number='2'>
                                              <matrix matrixPlugin="TestPlugin:G0Compl"/>
                                              <matrix matrixPlugin="TestPlugin:G1Compl"/>
                                             </jacobianH>
					</LagrangianRelation>			
					<!-- NS Law of this interaction	-->
					<NewtonImpactLaw>
						<e>0.9</e>				
					</NewtonImpactLaw>
				</Interaction_Content>	
			</Interaction>				
	</NSDS>
</SiconosModel>
