<?xml version="1.0" ?>
<!-- See https://wiki.sofa-framework.org/wiki/TutorialSurfacesTopologicalMapping -->
<Node name="root" gravity="0 -9.81 1" dt="0.05" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" >
  <!-- Basic Components to perform the collision detection -->
  <DefaultPipeline name="DefaultCollisionPipeline" depth="6"/>
  <BruteForceDetection name="Detection"/>
  <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
  <DefaultContactManager name="Response"/>
  <DefaultCollisionGroupManager name="Group"/>
 
  <Node name="Quads Mesh">
    <MechanicalObject template="Vec3d" name="Quads"/>
    <EulerImplicitSolver name="cg_odesolver" printLog="0"/>
    <CGLinearSolver name="linear solver" template="GraphScattered" iterations="40" tolerance="1e-09" threshold="1e-09"/>
 
    <QuadSetTopologyContainer name="Container" fileTopology="mesh/cubeQuad.obj"/>
    <QuadSetTopologyModifier name="Topology Modifier"/>
    <QuadSetTopologyAlgorithms template="Vec3d" name="TopoAlgo"/>
    <QuadSetGeometryAlgorithms template="Vec3d" name="GeomAlgo"/>
    <QuadularBendingSprings name="FEM-Bend" template="Vec3d" stiffness="3000" damping="1"/>
 
    <DiagonalMass name="Mass" template="Vec3d" massDensity="0.5"/>
    <FixedConstraint name="Fixed dof" template="Vec3d" indices="12 15"/>
 
    <Node name="Visu">
      <OglModel name="Visual" template="ExtVec3f" color="green"/>
      <IdentityMapping name="Mapping" template="Mapping&lt;Vec3d,ExtVec3f&gt;" object1="../../Quads" object2="Visual"/>
    </Node>
 
    <Node name="Triangles Mesh">
      <TriangleSetTopologyContainer name="Container"/>
      <TriangleSetTopologyModifier name="Topology Modifier"/>
      <TriangleSetTopologyAlgorithms name="TopoAlgo" template="Vec3d"/>
      <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d"/>
 
      <Quad2TriangleTopologicalMapping name="Topological Mapping" object1="../../Container" object2="Container"/>      
      <TriangularFEMForceField name="FEM" template="Vec3d" method="large" poissonRatio="0.3" youngModulus="1000"/>
      <TriangularBendingSprings name="FEM-Bend" template="Vec3d" stiffness="3000" damping="1"/>
      <TriangleModel name="Models"/>
    </Node>
  </Node>
</Node>