From 341523a2b259f2a2dadd10843089441cd529ccb4 Mon Sep 17 00:00:00 2001
From: erik pernod <erik.pernod@gmail.com>
Date: Sun, 13 Nov 2022 16:54:06 +0100
Subject: [PATCH] [scenes] Fix and update all carving scenes with Geomagic (#7)

* [scenes] Fix and update haptic carving scenes

* Add carving against rigid cube

* Add scene with Geomagic and burning
---
 examples/Cube_AdvCarvingTexcoords.scn         |   6 +-
 examples/Geomagic-ACarving-tetra2triangle.scn |  76 -----------
 examples/Geomagic-ACarving.scn                |  65 ----------
 examples/Geomagic-AdvCarving.scn              | 118 ++++++++++++++++++
 .../Geomagic-AdvCarving.scn.qglviewer.view    |   2 +
 .../Geomagic-AdvCarvingWithRefinement.scn     | 102 +++++++++++++++
 examples/Geomagic-AdvCarvingWithTexCoords.scn | 118 ++++++++++++++++++
 ...AdvCarvingWithTexCoords.scn.qglviewer.view |   2 +
 examples/Geomagic-SurfaceCarving.scn          |  14 ++-
 examples/Geomagic_RigidCube_AdvCarving.scn    | 102 +++++++++++++++
 10 files changed, 458 insertions(+), 147 deletions(-)
 delete mode 100644 examples/Geomagic-ACarving-tetra2triangle.scn
 delete mode 100644 examples/Geomagic-ACarving.scn
 create mode 100644 examples/Geomagic-AdvCarving.scn
 create mode 100644 examples/Geomagic-AdvCarving.scn.qglviewer.view
 create mode 100644 examples/Geomagic-AdvCarvingWithRefinement.scn
 create mode 100644 examples/Geomagic-AdvCarvingWithTexCoords.scn
 create mode 100644 examples/Geomagic-AdvCarvingWithTexCoords.scn.qglviewer.view
 create mode 100644 examples/Geomagic_RigidCube_AdvCarving.scn

diff --git a/examples/Cube_AdvCarvingTexcoords.scn b/examples/Cube_AdvCarvingTexcoords.scn
index 4386499..9cf06f3 100644
--- a/examples/Cube_AdvCarvingTexcoords.scn
+++ b/examples/Cube_AdvCarvingTexcoords.scn
@@ -37,11 +37,11 @@
     <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
-    <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" carvingDistance="0.5" 
-        carvingWithBurning="1" drawContacts="1"/>
+    <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" carvingDistance="0.05" 
+        carvingWithBurning="1" drawContacts="0"/>
 
     <Node name="carvingElement">
-        <MechanicalObject name="Particles" template="Rigid3d" position="5 15 5 0 0 0 1" />
+        <MechanicalObject name="Particles" template="Rigid3d" position="5 12 5 0 0 0 1" />
         <UniformMass name="Mass" totalMass="10.0" template="Rigid3d"/>
         <SphereCollisionModel name="tool" radius="0.1" tags="CarvingTool"/>
         <Node name="VisuTool" >
diff --git a/examples/Geomagic-ACarving-tetra2triangle.scn b/examples/Geomagic-ACarving-tetra2triangle.scn
deleted file mode 100644
index e9133db..0000000
--- a/examples/Geomagic-ACarving-tetra2triangle.scn
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0" ?>
-<Node name="root" dt="0.005" gravity="10 0 0" >
-    <VisualStyle displayFlags="hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
-
-	<RequiredPlugin pluginName="MeshRefinement" />
-    <RequiredPlugin pluginName="Geomagic" />
-    <RequiredPlugin pluginName='SofaHaptics' />
-    
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
-    <BruteForceDetection name="detection" />
-    <DefaultContactManager name="response" response="FrictionContact" />
-    <LocalMinDistance name="proximity" alarmDistance="0.5" contactDistance="0.1" angleCone="0.0" />
-
-    <FreeMotionAnimationLoop/>
-    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
-    
-    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
-        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" />
-	<AdvanceCarvingManager active="@GeomagicDevice.button1" carvingDistance="1.0" 
-        refineCriteria="0.01" carvingCriteria="0.3" carvingSpeed="0.001" drawContacts="1"/>
-	
-
-    <Node name="ToolController">
-        <MechanicalObject template="Rigid3d" name="DOFs" position="@GeomagicDevice.positionDevice"/>
-        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
-    </Node>
-	
-	
-	<Node name="Cube_Volume_1">
-        <MeshGmshLoader name="loader" filename="mesh/cube_03.msh" scale3d="0.5 0.5 0.5" translation="-5 5 -5"/>
-        <MechanicalObject src="@loader" name="Volume"/>
-
-		<TetrahedronSetTopologyContainer  name="TetraContainer" src="@loader" tags=" "/>
-		<TetrahedronSetTopologyModifier   name="TetraModifier" />
-		<TetrahedronSetGeometryAlgorithms name="TetraGeomAlgo"  template="Vec3d" drawTetrahedra="1" drawScaleTetrahedra="0.8"/>
-                
-        <Node name="Cube_Surface">
-            <TriangleSetTopologyContainer  name="TriContainer" fileTopology="" tags=" " />
-			<TriangleSetTopologyModifier   name="TriModifier" />
-			<TriangleSetGeometryAlgorithms name="TriGeomAlgo" template="Vec3d" />
-			
-            <Tetra2TriangleTopologicalMapping input="@../TetraContainer" output="@TriContainer" />
-        	
-			<LineCollisionModel name="colTargetLine1" contactStiffness="1" simulated="0" moving="0" group="1"/>    
-            <PointCollisionModel name="colTargetPoint1" contactStiffness="1" group="1"/>
-			<TriangleCollisionModel name="colTargetTriangle1" contactStiffness="1" tags="CarvingSurface" group="1"/>
-            <Node name="Cube_Visu">
-                <OglModel name="Visual" color="green"/>
-                <IdentityMapping input="@../" output="@Visual" />
-            </Node>
-        </Node>
-    </Node>
-	
-	
-    <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
-        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" /> 
-        
-		<MechanicalObject name="instrumentState" template="Rigid3d" />
-		<UniformMass name="mass" totalMass="0.05" />
-		
-		<RestShapeSpringsForceField stiffness='1000000000' angularStiffness='1000000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
-        <LCPForceFeedback activate="true" forceCoef="0.005"/>
-        <UncoupledConstraintCorrection/>
-        
-        <Node name="CollisionModel" >
-            <MeshOBJLoader filename="./mesh/drill_collision.obj"  name="loader"/>
-            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
-            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="-180" rz="-90" dz="3.5" dx="-0.3" />
-            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
-            <PointCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" /> 
-            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
-        </Node>        
-    </Node>
-	
-</Node>
diff --git a/examples/Geomagic-ACarving.scn b/examples/Geomagic-ACarving.scn
deleted file mode 100644
index c228b91..0000000
--- a/examples/Geomagic-ACarving.scn
+++ /dev/null
@@ -1,65 +0,0 @@
-<?xml version="1.0" ?>
-<Node name="root" dt="0.005" gravity="10 0 0" >
-    <VisualStyle displayFlags="hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
-
-	<RequiredPlugin pluginName="MeshRefinement" />
-    <RequiredPlugin pluginName="Geomagic" />
-    <RequiredPlugin pluginName="SofaHaptics" />
-    <RequiredPlugin pluginName="InteractionTools" />
-    
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
-    <BruteForceDetection name="detection" />
-    <DefaultContactManager name="response" response="FrictionContact" />
-    <LocalMinDistance name="proximity" alarmDistance="0.5" contactDistance="0.1" angleCone="0.0" />
-
-    <FreeMotionAnimationLoop/>
-    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
-    
-    <HapticEmulator name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
-        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" />
-	<AdvanceCarvingManager active="@GeomagicDevice.button1" carvingDistance="0.01" 
-        refineCriteria="1.0" carvingCriteria="1.0" carvingSpeed="0.001" drawContacts="1" refineThreshold="0.01"/>
-	
-
-    <Node name="ToolController">
-        <MechanicalObject template="Rigid3d" name="DOFs" position="@GeomagicDevice.positionDevice"/>
-        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
-    </Node>
-	
-	
-	<Node name="Cube_Volume_1">
-        <MeshGmshLoader name="loader" filename="mesh/cube_03.msh" scale3d="0.5 0.5 0.5" translation="-5 5 -5"/>
-        <MechanicalObject src="@loader" name="Volume"/>
-
-		<TetrahedronSetTopologyContainer  name="TetraContainer" src="@loader" tags=" "/>
-		<TetrahedronSetTopologyModifier   name="TetraModifier" />
-		<TetrahedronSetGeometryAlgorithms name="TetraGeomAlgo"  template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
-        
-        <LineCollisionModel name="colTargetLine1" contactStiffness="1" simulated="0" moving="0" group="1"/>    
-        <PointCollisionModel name="colTargetPoint1" contactStiffness="1" tags="CarvingSurface" group="1"/>
-        <TriangleCollisionModel name="colTargetTriangle1" contactStiffness="1" tags="CarvingSurface"group="1"/>
-    </Node>
-	
-	
-    <Node name="Instrument" >
-        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
-        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" /> 
-        
-		<MechanicalObject name="instrumentState" template="Rigid3d" />
-		<UniformMass name="mass" totalMass="0.05" />
-		
-		<RestShapeSpringsForceField stiffness='1000000000' angularStiffness='1000000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
-        <LCPForceFeedback activate="true" forceCoef="0.005"/>
-        <UncoupledConstraintCorrection/>
-        
-        <Node name="toolCollision" >
-            <MeshOBJLoader filename="./mesh/drill_collision_2p.obj"  name="loader"/>
-            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
-            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="0" rz="0" dz="3.5" dx="0.0" />
-            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
-            <SphereCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" radius="0.1"/> 
-            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
-        </Node>        
-    </Node>
-	
-</Node>
diff --git a/examples/Geomagic-AdvCarving.scn b/examples/Geomagic-AdvCarving.scn
new file mode 100644
index 0000000..726c883
--- /dev/null
+++ b/examples/Geomagic-AdvCarving.scn
@@ -0,0 +1,118 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.05" gravity="0 -9 0" >
+    <VisualStyle displayFlags="hideVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
+
+    <Node name="RequiredPlugins">
+        <RequiredPlugin name="Geomagic"/> <!-- Needed to use components [GeomagicDriver] -->
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel, PointCollisionModel, TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.Haptics"/> <!-- Needed to use components [LCPForceFeedback] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
+        <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.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping, Tetra2TriangleTopologicalMapping] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="InfinyToolkit" />        
+    </Node>
+    
+    <DefaultVisualManagerLoop />    
+    <FreeMotionAnimationLoop/>
+    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
+    
+    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />
+    
+    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
+        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" drawDevice="0"/>
+	<AdvancedCarvingManager active="@GeomagicDevice.button1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.1" 
+        carvingWithBurning="0" carvingWithRefinement="0" drawContacts="0"/>
+	
+
+    <Node name="ToolController">
+        <MechanicalObject template="Rigid3" name="DOFs" position="@GeomagicDevice.positionDevice"/>
+    </Node>
+	
+	
+	<Node name="Hexa2Tetra" >
+        <RegularGridTopology name="HexaTop" n="7 7 7" min="1 0 3" max="11 10 13" />
+        <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
+        <TetrahedronSetTopologyModifier name="Modifier"/>
+        <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="false" />
+    </Node>
+
+    <Node name="Cube">
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
+
+        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/Container" />
+        <TetrahedronSetTopologyModifier name="Modifier" />
+        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
+
+        <DiagonalMass massDensity="10.0" />
+
+        <BoxROI name="box" box="-1 -1 -1 12 0 14" drawBoxes="true" />
+        <FixedConstraint  name="FixedConstraint" indices="@box.indices" activate_projectVelocity="1"/>
+
+        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="5000" poissonRatio="0.3" method="large" />
+        <LinearSolverConstraintCorrection/>
+        <Node name="Surface">
+            <TriangleSetTopologyContainer  name="Container"/>
+            <TriangleSetTopologyModifier   name="Modifier" />
+            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
+            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
+
+            <TriangleCollisionModel name="triangleCol" tags="CarvingSurface"/>
+            <LineCollisionModel name="instrumentLine" />
+            <PointCollisionModel name="pointCol" tags="CarvingSurface"/>
+
+            <Node name="liver-Visual">
+                <OglModel name="Visual" texturename="textures/colorMap.png" />
+                <IdentityMapping input="@../../Volume" output="@Visual" />
+            </Node>
+        </Node>
+    </Node>
+	
+	
+    <Node name="Instrument" >
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        
+		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
+		<UniformMass name="mass" totalMass="0.1" />
+		
+		<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
+        <LCPForceFeedback activate="true" forceCoef="0.001"/>
+        <LinearSolverConstraintCorrection/>
+        
+        <Node name="CollisionModel" >
+            <MeshOBJLoader filename="./mesh/drill_collision.obj"  name="loader"/>            
+            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
+            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="-180" rz="-90" dz="3.5" dx="0.0" />
+            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
+            <PointCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" /> 
+            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
+        </Node>        
+    </Node>
+	
+</Node>
diff --git a/examples/Geomagic-AdvCarving.scn.qglviewer.view b/examples/Geomagic-AdvCarving.scn.qglviewer.view
new file mode 100644
index 0000000..4d2a0ed
--- /dev/null
+++ b/examples/Geomagic-AdvCarving.scn.qglviewer.view
@@ -0,0 +1,2 @@
+-26.4817 33.5874 3.80545
+-0.239151 -0.629519 -0.295128 0.6778
diff --git a/examples/Geomagic-AdvCarvingWithRefinement.scn b/examples/Geomagic-AdvCarvingWithRefinement.scn
new file mode 100644
index 0000000..fcd7162
--- /dev/null
+++ b/examples/Geomagic-AdvCarvingWithRefinement.scn
@@ -0,0 +1,102 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.05" gravity="10 0 0" >
+    <VisualStyle displayFlags="hideVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
+
+    <Node name="RequiredPlugins">
+        <RequiredPlugin name="Geomagic"/> <!-- Needed to use components [GeomagicDriver] -->  
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, BruteForceDetection, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel, PointCollisionModel, TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->  
+        <RequiredPlugin name="Sofa.Component.Haptics"/> <!-- Needed to use components [LCPForceFeedback] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader, MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
+        <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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
+        <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.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="InfinyToolkit" />        
+    </Node>
+    
+    <DefaultVisualManagerLoop />    
+    <FreeMotionAnimationLoop/>
+    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
+    
+    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <LocalMinDistance name="proximity" alarmDistance="0.5" contactDistance="0.1" angleCone="0.0" />
+    
+    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
+        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" drawDevice="0"/>
+	<AdvancedCarvingManager active="@GeomagicDevice.button1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.2" 
+        carvingWithBurning="0" carvingWithRefinement="1" drawContacts="0"/>
+	
+
+    <Node name="ToolController">
+        <MechanicalObject template="Rigid3" name="DOFs" position="@GeomagicDevice.positionDevice"/>
+    </Node>
+	
+	
+	<Node name="Cube_Volume_1">
+        <MeshGmshLoader name="loader" filename="mesh/cube_03.msh" scale3d="0.5 0.5 0.5" translation="-5 5 -5"/>
+        <MechanicalObject src="@loader" name="Volume"/>
+
+		<TetrahedronSetTopologyContainer  name="TetraContainer" src="@loader" tags=" "/>
+		<TetrahedronSetTopologyModifier   name="TetraModifier" />
+		<TetrahedronSetGeometryAlgorithms name="TetraGeomAlgo"  template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
+                
+        <Node name="Cube_Surface">
+            <TriangleSetTopologyContainer  name="TriContainer" fileTopology="" tags=" " />
+			<TriangleSetTopologyModifier   name="TriModifier" />
+			<TriangleSetGeometryAlgorithms name="TriGeomAlgo" template="Vec3d" />
+			
+            <Tetra2TriangleTopologicalMapping input="@../TetraContainer" output="@TriContainer" />
+        	
+			<LineCollisionModel name="colTargetLine1" contactStiffness="1" simulated="0" moving="0" group="1"/>    
+            <PointCollisionModel name="colTargetPoint1" contactStiffness="1" group="1" simulated="0" moving="0"/>
+			<TriangleCollisionModel name="colTargetTriangle1" contactStiffness="1" tags="CarvingSurface" group="1" simulated="0" moving="0"/>
+            <Node name="Cube_Visu">
+                <OglModel name="Visual" color="green"/>
+                <IdentityMapping input="@../" output="@Visual" />
+            </Node>
+        </Node>
+    </Node>
+	
+	
+    <Node name="Instrument" >
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        
+		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
+		<UniformMass name="mass" totalMass="0.01" />
+		
+		<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
+        <LCPForceFeedback activate="true" forceCoef="0.00005"/>
+        <LinearSolverConstraintCorrection/>
+        
+        <Node name="CollisionModel" >
+            <MeshOBJLoader filename="./mesh/drill_collision.obj"  name="loader"/>            
+            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
+            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="-180" rz="-90" dz="3.5" dx="-0.3" />
+            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
+            <PointCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" /> 
+            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
+        </Node>        
+    </Node>
+	
+</Node>
diff --git a/examples/Geomagic-AdvCarvingWithTexCoords.scn b/examples/Geomagic-AdvCarvingWithTexCoords.scn
new file mode 100644
index 0000000..b037d8b
--- /dev/null
+++ b/examples/Geomagic-AdvCarvingWithTexCoords.scn
@@ -0,0 +1,118 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.05" gravity="0 -9 0" >
+    <VisualStyle displayFlags="showVisualModels hideBehaviorModels hideCollisionModels hideMappings hideForceFields" />
+
+    <Node name="RequiredPlugins">
+        <RequiredPlugin name="Geomagic"/> <!-- Needed to use components [GeomagicDriver] -->
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel, PointCollisionModel, TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.Haptics"/> <!-- Needed to use components [LCPForceFeedback] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
+        <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.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping, Tetra2TriangleTopologicalMapping] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="InfinyToolkit" />        
+    </Node>
+    
+    <DefaultVisualManagerLoop />    
+    <FreeMotionAnimationLoop/>
+    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
+    
+    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />
+    
+    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
+        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" drawDevice="0"/>
+	<AdvancedCarvingManager name="ACarving" active="@GeomagicDevice.button1" refineDistance="1.5" refineCriteria="0.5" carvingDistance="0.1" 
+        carvingWithBurning="1" carvingWithRefinement="0" drawContacts="0"/>
+	
+
+    <Node name="ToolController">
+        <MechanicalObject template="Rigid3" name="DOFs" position="@GeomagicDevice.positionDevice"/>
+    </Node>
+	
+	
+	<Node name="Hexa2Tetra" >
+        <RegularGridTopology name="HexaTop" n="7 7 7" min="1 0 3" max="11 10 13" />
+        <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
+        <TetrahedronSetTopologyModifier name="Modifier"/>
+        <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="false" />
+    </Node>
+
+    <Node name="Cube">
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
+
+        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/Container" />
+        <TetrahedronSetTopologyModifier name="Modifier" />
+        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
+
+        <DiagonalMass massDensity="10.0" />
+
+        <BoxROI name="box" box="-1 -1 -1 12 0 14" drawBoxes="true" />
+        <FixedConstraint  name="FixedConstraint" indices="@box.indices" activate_projectVelocity="1"/>
+
+        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="5000" poissonRatio="0.3" method="large" />
+        <LinearSolverConstraintCorrection/>
+        <Node name="Surface">
+            <TriangleSetTopologyContainer  name="Container"/>
+            <TriangleSetTopologyModifier   name="Modifier" />
+            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
+            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
+
+            <TriangleCollisionModel name="triangleCol" tags="CarvingSurface"/>
+            <LineCollisionModel name="instrumentLine" />
+            <PointCollisionModel name="pointCol" tags="CarvingSurface"/>
+
+            <Node name="liver-Visual">
+                <OglModel name="Visual" texcoords="@../../../ACarving.texcoords" texturename="textures/colorMap.png" />
+                <IdentityMapping input="@../../Volume" output="@Visual" />
+            </Node>
+        </Node>
+    </Node>
+	
+	
+    <Node name="Instrument" >
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        
+		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
+		<UniformMass name="mass" totalMass="0.1" />
+		
+		<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
+        <LCPForceFeedback activate="true" forceCoef="0.001"/>
+        <LinearSolverConstraintCorrection/>
+        
+        <Node name="CollisionModel" >
+            <MeshOBJLoader filename="./mesh/drill_collision.obj"  name="loader"/>            
+            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
+            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="-180" rz="-90" dz="3.5" dx="0.0" />
+            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
+            <PointCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" /> 
+            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
+        </Node>        
+    </Node>
+	
+</Node>
diff --git a/examples/Geomagic-AdvCarvingWithTexCoords.scn.qglviewer.view b/examples/Geomagic-AdvCarvingWithTexCoords.scn.qglviewer.view
new file mode 100644
index 0000000..b8a71c3
--- /dev/null
+++ b/examples/Geomagic-AdvCarvingWithTexCoords.scn.qglviewer.view
@@ -0,0 +1,2 @@
+-26.3841 20.9086 -1.82431
+-0.208029 -0.68016 -0.198852 0.674213
diff --git a/examples/Geomagic-SurfaceCarving.scn b/examples/Geomagic-SurfaceCarving.scn
index 9fb2374..2d75b58 100644
--- a/examples/Geomagic-SurfaceCarving.scn
+++ b/examples/Geomagic-SurfaceCarving.scn
@@ -1,9 +1,17 @@
 <Node name="root" dt="0.005" gravity="10 0 0" >
     <VisualStyle displayFlags="hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
 
-	<RequiredPlugin pluginName="MeshRefinement" />
-    <RequiredPlugin pluginName="Geomagic" />
-    <RequiredPlugin pluginName='SofaHaptics' />
+    <Node name="RequiredPlugins">
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, BruteForceDetection, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+    </Node>
     
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceDetection name="detection" />
diff --git a/examples/Geomagic_RigidCube_AdvCarving.scn b/examples/Geomagic_RigidCube_AdvCarving.scn
new file mode 100644
index 0000000..5357ccd
--- /dev/null
+++ b/examples/Geomagic_RigidCube_AdvCarving.scn
@@ -0,0 +1,102 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.05" gravity="10 0 0" >
+    <VisualStyle displayFlags="hideVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
+
+    <Node name="RequiredPlugins">
+        <RequiredPlugin name="Geomagic"/> <!-- Needed to use components [GeomagicDriver] -->  
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, BruteForceDetection, DefaultPipeline] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel, PointCollisionModel, TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->  
+        <RequiredPlugin name="Sofa.Component.Haptics"/> <!-- Needed to use components [LCPForceFeedback] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader, MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->  
+        <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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
+        <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.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="InfinyToolkit" />        
+    </Node>
+    
+    <DefaultVisualManagerLoop />    
+    <FreeMotionAnimationLoop/>
+    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
+    
+    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <LocalMinDistance name="proximity" alarmDistance="0.5" contactDistance="0.1" angleCone="0.0" />
+    
+    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
+        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" drawDevice="0"/>
+	<AdvancedCarvingManager active="@GeomagicDevice.button1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.1" 
+        carvingWithBurning="0" carvingWithRefinement="0" drawContacts="0"/>
+	
+
+    <Node name="ToolController">
+        <MechanicalObject template="Rigid3" name="DOFs" position="@GeomagicDevice.positionDevice"/>
+    </Node>
+	
+	
+	<Node name="Cube_Volume_1">
+        <MeshGmshLoader name="loader" filename="mesh/cube_03.msh" scale3d="0.5 0.5 0.5" translation="-5 5 -5"/>
+        <MechanicalObject src="@loader" name="Volume"/>
+
+		<TetrahedronSetTopologyContainer  name="TetraContainer" src="@loader" tags=" "/>
+		<TetrahedronSetTopologyModifier   name="TetraModifier" />
+		<TetrahedronSetGeometryAlgorithms name="TetraGeomAlgo"  template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
+                
+        <Node name="Cube_Surface">
+            <TriangleSetTopologyContainer  name="TriContainer" fileTopology="" tags=" " />
+			<TriangleSetTopologyModifier   name="TriModifier" />
+			<TriangleSetGeometryAlgorithms name="TriGeomAlgo" template="Vec3d" />
+			
+            <Tetra2TriangleTopologicalMapping input="@../TetraContainer" output="@TriContainer" />
+        	
+			<LineCollisionModel name="colTargetLine1" contactStiffness="1" simulated="0" moving="0" group="1"/>    
+            <PointCollisionModel name="colTargetPoint1" contactStiffness="1" group="1" simulated="0" moving="0"/>
+			<TriangleCollisionModel name="colTargetTriangle1" contactStiffness="1" tags="CarvingSurface" group="1" simulated="0" moving="0"/>
+            <Node name="Cube_Visu">
+                <OglModel name="Visual" color="green"/>
+                <IdentityMapping input="@../" output="@Visual" />
+            </Node>
+        </Node>
+    </Node>
+	
+	
+    <Node name="Instrument" >
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        
+		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
+		<UniformMass name="mass" totalMass="0.01" />
+		
+		<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
+        <LCPForceFeedback activate="true" forceCoef="0.00005"/>
+        <LinearSolverConstraintCorrection/>
+        
+        <Node name="CollisionModel" >
+            <MeshOBJLoader filename="./mesh/drill_collision.obj"  name="loader"/>            
+            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
+            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="-180" rz="-90" dz="3.5" dx="-0.3" />
+            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
+            <PointCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" /> 
+            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
+        </Node>        
+    </Node>
+	
+</Node>