<?xml version="1.0" ?>
<!-- See http://wiki.sofa-framework.org/wiki/TutorialBasicCube -->
<Node name="root" dt="0.01" gravity="0 0 -9.81">
  <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
  <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
  <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
  <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
  <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
  <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
  <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
  <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

  <DefaultAnimationLoop/>
  <VisualStyle displayFlags="showBehavior" />
  <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
  <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-5" threshold="1e-5"/>

  <MechanicalObject name="Particles" template="Vec3"
		    position="0 0 1  1 0 1  0 1 1  1 1 1  0 0 2  1 0 2  0 1 2  1 1 2" />

  <MeshTopology name="Topology" hexas="0 4 6 2 1 5 7 3" />

  <UniformMass name="Mass" totalMass="1" />
  <MeshSpringForceField name="Springs" stiffness="100" damping="1" />

  <PlaneForceField name="Floor" normal="0 -0.2 1" stiffness="100" damping="1" showPlane= "1"/>
  <PlaneForceField name="Wall" normal="0 -1 0" d="-4" stiffness="100" damping="1" showPlane= "1"/>

</Node>
