<?xml version="1.0" ?>
<!-- See http://wiki.sofa-framework.org/mediawiki/index.php/TutorialBasicPendulum -->
<Node name="root" dt="0.1" gravity="0 0 0">
  <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
  <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
  <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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
  <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
  <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
  <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

  <DefaultAnimationLoop/>
  <VisualStyle displayFlags="showBehavior showCollisionModels"/>
 <!-- Try to test with different solver -->
  <EulerImplicitSolver name="Euler Implicit"  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 0 0 0 1"
                    velocity="0 0 0 0 1 0"/>
 
  <UniformMass name="Mass" totalMass="1" />

  <FixedProjectiveConstraint indices="0"/>
  <SpringForceField name="Springs" stiffness="100" damping="1" spring="0 1 10 1 1"/>
  <SphereCollisionModel radius="0.1"/>
</Node>
