<?xml version="1.0"?>
<Node 	name="root" gravity="0 -9.81 0" dt="0.02" showBehaviorModels="0" showCollisionModels="0" showMappings="0" showForceFields="0"  >
	<DefaultPipeline name="CollisionPipeline"  verbose="0" />
	<BruteForceDetection name="N2" />
	<DefaultContactManager name="collision response"  response="default" />
	<Node 	name="Liver" gravity="0 -9.81 0" depend="topo dofs"  >
		<EulerImplicitSolver name="cg_odesolver"  printLog="0" />
		<CGLinearSolver template="GraphScattered" name="linear solver"  iterations="25"  tolerance="1e-09"  threshold="1e-09" />
		<MeshGmshLoader name="loader"  filename="liver.msh" />
                <TetrahedronSetTopologyContainer name="topo" position="@loader.position"  edges="@loader.edges"  triangles="@loader.triangles"  tetrahedra="@loader.tetras"/>
		<MechanicalObject template="Vec3d" name="dofs"  position="0 0 0"  velocity="0 0 0"  force="0 0 0"  derivX="0 0 0"  free_position="0 0 0"  free_velocity="0 0 0"  restScale="1" />
                <TetrahedronSetGeometryAlgorithms name="tetraGeo"/>
		<DiagonalMass template="Vec3d" name="computed using mass density"  massDensity="1" />
		<TetrahedralCorotationalFEMForceField template="Vec3d" name="FEM"  method="large"  poissonRatio="0.3"  youngModulus="3000"  computeGlobalMatrix="0" />
		<FixedConstraint template="Vec3d" name="FixedConstraint"  indices="3 39 64" />
		<Node 	name="Visu" tags="Visual" gravity="0 -9.81 0"  >
			<OglModel template="ExtVec3f" name="VisualModel"  fileMesh="liver-smooth.obj" />
			<BarycentricMapping template="Mapping&lt;Vec3d,ExtVec3f&gt;" name="visual mapping"  input="@../dofs"  output="@VisualModel" />
		</Node>
                <Node 	name="Surf" gravity="0 -9.81 0"  >
                        <SphereLoader template="Vec3d" name="sphereLoader" filename="liver.sph"/>
                        <TSphereModel template="Vec3d" name="CollisionModel" listRadius="@sphereLoader.listRadius"/>
                        <MechanicalObject template="Vec3d" name="spheres"  position="@../dofs.position"  velocity="0 0 0"  force="0 0 0"  derivX="0 0 0"  free_position="0 0 0"  free_velocity="0 0 0"  restScale="1" />
                        <BarycentricMapping template="MechanicalMapping&lt;Vec3d,Vec3d&gt;" name="sphere mapping" input="@../" output="@./"/>
		</Node>
	</Node>
</Node>
