<?xml version="1.0" ?>
<!-- See http://wiki.sofa-framework.org/wiki/TutorialCollisionUncoupledConstraints -->
<Node name="root" dt="0.01" gravity="0 -9.81 0" showBehavior="1" showCollision="1">
  <!-- Basic Components to perform the collision detection -->
  <MasterContactSolver name="MasterContactSolver"/>
  <CollisionPipeline name="CollisionPipeline"/>
  <BruteForceDetection name="BruteForceDetection"/>
  <LocalMinDistance name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0"/>
  <CollisionResponse name="Response" response="FrictionContact"/>
  <CollisionGroup/>
 
  <!-- Using a rigid cube using collision triangles, lines and points  -->
  <Node name="Cube">
 
    <EulerImplicit name="EulerImplicit" />
    <CGLinearSolver name="CG Solver" />
 
    <MechanicalObject name="Cube RigidDOF" template="Rigid" dy="2"/>
 
    <UniformMass name="UniformMass" totalmass="10.0"/>
 
    <UncoupledConstraintCorrection/>
 
    <Node name="Visual Model">
 
      <OglModel name="Visual Cube" filename="mesh/cube.obj" color="1 1 0 1.0"/>
 
      <RigidMapping name="RigidMapping Visual-RigidDOF" object1="../../Cube RigidDOF" object2="Visual Cube" />
 
    </Node>
 
    <Node name="Collision Model">
 
        <Mesh name="Cube Mesh" filename="mesh/cube.obj"/>
        <MechanicalObject name="Collision Cube"/>
 
        <!-- Collision Models -->
        <Triangle name="Cube Triangle For Collision"/> 
        <Line name="Cube Edge For Collision"/>
        <Point name="Cube Point For Collision"/>
 
        <RigidMapping name="RigidMapping Collision-RigidDOF" object1="../../Cube RigidDOF" object2="Collision Cube" />
 
    </Node>
 
  </Node>
 
  <Node name="Floor">
 
    <MeshTopology  name="Topology Floor"  filename="mesh/floor.obj"/>
 
    <MechanicalObject name="Floor Particles"/>
    <!-- Collision Models -->
    <Triangle name="Floor Triangle For Collision" moving="0" simulated="0"/>
 
  </Node>
 
</Node>