<?xml version="1.0" ?>
<!-- See http://wiki.sofa-framework.org/mediawiki/index.php/TutorialForceFieldLiverFEM -->
 
<Node 	name="root" 
	gravity="0 -9.81 0" 
	dt="0.02" 
        showVisualModels="0"
	showForceFields="1" 
	 >
	<DefaultPipeline name="CollisionPipeline" verbose="0"/>
	<BruteForceDetection name="N2"/>
	<DefaultContactManager name="collision response" response="default"/>
	<Node 	name="LiverFEM" 
		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"/>
		<MeshTopology name="mesh" fileTopology="mesh/liver.msh"/>
		<MechanicalObject template="Vec3d" name="dofs"/>
		<TetrahedronFEMForceField template="Vec3d" name="FEM" youngModulus="250"/>
		<UniformMass template="Vec3d" name="mass" totalmass="1"/>
		<FixedConstraint template="Vec3d" name="FixedConstraint" indices="3 39 64"/>
		<Node 	name="Visu" 
			gravity="0 -9.81 0" 
			 >
			<OglModel template="ExtVec3f" name="VisualModel" fileMesh="mesh/liver-smooth.obj"/>
			<BarycentricMapping template="Mapping&lt;Vec3d,ExtVec3f&gt;" name="visual mapping" object1="../.." object2="VisualModel"/>
		</Node>
		<Node 	name="Surf" 
			gravity="0 -9.81 0" 
			 >
			<SphereModel name="CollisionModel" fileSphere="mesh/liver.sph"/>
			<MechanicalObject template="Vec3d" name="default1"/>
			<BarycentricMapping template="MechanicalMapping&lt;Vec3d,Vec3d&gt;" name="sphere mapping"/>
		</Node>
	</Node>
</Node>