<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    
    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehavior" />
    <CollisionPipeline name="DefaultCollisionPipeline" verbose="0" draw="0" depth="6" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="3" contactDistance="2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="Tetrahedrons Mesh">
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <TetrahedronSetTopologyContainer name="Container" src="@loader" />
        <MechanicalObject name="Volume" />
        <TetrahedronSetGeometryAlgorithms  name="GeomAlgo" drawTetrahedra="1" drawColorTetrahedra="1.0 1.0 0.3 1.0" />
    </Node>
</Node>
