From f712d0ec421d4273a669b8782349661b7edca9d3 Mon Sep 17 00:00:00 2001
From: Lucas Burel <lucasbureltojo@gmail.com>
Date: Mon, 23 Jun 2025 16:45:06 +0200
Subject: [PATCH 1/6] add scenes

---
 .../BezierTriangularBendingFEMForceField.py   |   42 +
 examples/sofapython3/CstFEMForceField.py      |   39 +
 .../TriangularBendingFEMForceField.py         |   14 +-
 .../sofapython3/TriangularShellForceField.py  |   43 +
 examples/xml/MeshGID.scn                      |   46 +
 examples/xml/MeshInterpolator.scn             |   63 +
 examples/xml/Mesh_test.xml                    | 2654 +++++++++++++++++
 examples/xml/testClampedSquare.scn            |   55 +
 examples/xml/testShell6.scn                   |   67 +
 examples/xml/testShell6bis.scn                |   66 +
 examples/xml/testShell7.scn                   |   79 +
 examples/xml/testShell7_small_bis.scn         |   61 +
 examples/xml/testShellClampedSquare.scn       |  109 +
 examples/xml/testShellFoldingSquare2.scn      |   68 +
 mesh/4triangles.obj                           |   10 +
 mesh/4triangles_bis.obj                       |   10 +
 mesh/7small_triangles_bis.obj                 |   19 +
 mesh/7triangles.obj                           |   19 +
 mesh/square5x5.obj                            |   86 +
 19 files changed, 3549 insertions(+), 1 deletion(-)
 create mode 100644 examples/sofapython3/BezierTriangularBendingFEMForceField.py
 create mode 100644 examples/sofapython3/CstFEMForceField.py
 create mode 100644 examples/sofapython3/TriangularShellForceField.py
 create mode 100644 examples/xml/MeshGID.scn
 create mode 100644 examples/xml/MeshInterpolator.scn
 create mode 100644 examples/xml/Mesh_test.xml
 create mode 100644 examples/xml/testClampedSquare.scn
 create mode 100644 examples/xml/testShell6.scn
 create mode 100644 examples/xml/testShell6bis.scn
 create mode 100644 examples/xml/testShell7.scn
 create mode 100644 examples/xml/testShell7_small_bis.scn
 create mode 100644 examples/xml/testShellClampedSquare.scn
 create mode 100644 examples/xml/testShellFoldingSquare2.scn
 create mode 100644 mesh/4triangles.obj
 create mode 100644 mesh/4triangles_bis.obj
 create mode 100644 mesh/7small_triangles_bis.obj
 create mode 100644 mesh/7triangles.obj
 create mode 100644 mesh/square5x5.obj

diff --git a/examples/sofapython3/BezierTriangularBendingFEMForceField.py b/examples/sofapython3/BezierTriangularBendingFEMForceField.py
new file mode 100644
index 0000000..1e64074
--- /dev/null
+++ b/examples/sofapython3/BezierTriangularBendingFEMForceField.py
@@ -0,0 +1,42 @@
+def createScene(rootNode):
+
+
+    rootNode.addObject('RequiredPlugin', name="Shell")
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective') # Needed to use components [FixedProjectiveConstraint]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshOBJLoader]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [IdentityMapping]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D') # Needed to use components [OglModel]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GUI.Component') # Needed to use components [AttachBodyButtonSetting]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [GenericConstraintCorrection]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Generate') # Needed to use components [NormalsFromPoints]
+    rootNode.gravity = [0, -98.1, 0]
+    rootNode.addObject('AttachBodyButtonSetting', stiffness=0.1)
+    rootNode.addObject('FreeMotionAnimationLoop')
+    rootNode.addObject('GenericConstraintSolver', maxIterations=1e3, tolerance=1e-3)
+
+    square = rootNode.addChild('Square')
+    square.addObject('EulerImplicitSolver')
+    square.addObject('SparseLDLSolver')
+    square.addObject('GenericConstraintCorrection')
+    square.addObject('MeshOBJLoader', filename='mesh/square1.obj')
+    square.addObject('MeshTopology', src=square.MeshOBJLoader.getLinkPath())
+    square.addObject('MechanicalObject', name="Object", template='Rigid3')
+    square.addObject('NormalsFromPoints', name='NormalsFrom', position='@Object.position' )
+    square.addObject('UniformMass', totalMass=0.005)
+    square.addObject('BoxROI', box=[0, 0.9, -0.1, 1, 1, 0.1], drawBoxes=True)
+    square.addObject('FixedProjectiveConstraint', indices=square.BoxROI.indices.getLinkPath())
+    square.addObject('BezierTriangularBendingFEMForceField', youngModulus=1.7e3,
+                     poissonRatio=0.3, thickness=0.01, normals="@NormalsFrom.normals")
+
+    visu = square.addChild('Visu')
+    visu.addObject('OglModel', src=square.MeshTopology.getLinkPath())
+    visu.addObject('IdentityMapping')
+
diff --git a/examples/sofapython3/CstFEMForceField.py b/examples/sofapython3/CstFEMForceField.py
new file mode 100644
index 0000000..5a6011b
--- /dev/null
+++ b/examples/sofapython3/CstFEMForceField.py
@@ -0,0 +1,39 @@
+def createScene(rootNode):
+
+    rootNode.addObject('RequiredPlugin', name="Shell")
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective') # Needed to use components [FixedProjectiveConstraint]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshOBJLoader]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [IdentityMapping]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D') # Needed to use components [OglModel]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GUI.Component') # Needed to use components [AttachBodyButtonSetting]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [GenericConstraintCorrection]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver]  
+    rootNode.gravity = [0, -98.1, 0]
+    rootNode.addObject('AttachBodyButtonSetting', stiffness=0.1)
+    rootNode.addObject('FreeMotionAnimationLoop')
+    rootNode.addObject('GenericConstraintSolver', maxIterations=1e3, tolerance=1e-3)
+
+    square = rootNode.addChild('Square')
+    square.addObject('EulerImplicitSolver')
+    square.addObject('SparseLDLSolver')
+    square.addObject('GenericConstraintCorrection')
+    square.addObject('MeshOBJLoader', filename='mesh/square1.obj')
+    square.addObject('MeshTopology', src=square.MeshOBJLoader.getLinkPath())
+    square.addObject('MechanicalObject')
+    square.addObject('UniformMass', totalMass=0.005)
+    square.addObject('BoxROI', box=[0, 0.9, -0.1, 1, 1, 0.1], drawBoxes=True)
+    square.addObject('FixedProjectiveConstraint', indices=square.BoxROI.indices.getLinkPath())
+    square.addObject('CstFEMForceField', youngModulus=1.7e3,
+                     poissonRatio=0.3, thickness=0.01)
+
+    visu = square.addChild('Visu')
+    visu.addObject('OglModel', src=square.MeshTopology.getLinkPath())
+    visu.addObject('IdentityMapping')
+
diff --git a/examples/sofapython3/TriangularBendingFEMForceField.py b/examples/sofapython3/TriangularBendingFEMForceField.py
index 975aaf1..6a63479 100644
--- a/examples/sofapython3/TriangularBendingFEMForceField.py
+++ b/examples/sofapython3/TriangularBendingFEMForceField.py
@@ -1,6 +1,18 @@
 def createScene(rootNode):
 
     rootNode.addObject('RequiredPlugin', name="Shell")
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective') # Needed to use components [FixedProjectiveConstraint]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshOBJLoader]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [IdentityMapping]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D') # Needed to use components [OglModel]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GUI.Component') # Needed to use components [AttachBodyButtonSetting]  
+
     rootNode.gravity = [0, -98.1, 0]
     rootNode.addObject('AttachBodyButtonSetting', stiffness=0.1)
     rootNode.addObject('DefaultAnimationLoop')
@@ -13,7 +25,7 @@ def createScene(rootNode):
     square.addObject('MechanicalObject', template='Rigid3')
     square.addObject('UniformMass', totalMass=0.005)
     square.addObject('BoxROI', box=[0, 0.9, -0.1, 1, 1, 0.1], drawBoxes=True)
-    square.addObject('FixedConstraint', indices=square.BoxROI.indices.getLinkPath())
+    square.addObject('FixedProjectiveConstraint', indices=square.BoxROI.indices.getLinkPath())
     square.addObject('TriangularBendingFEMForceField', youngModulus=1.7e3,
                      poissonRatio=0.3, thickness=0.01)
 
diff --git a/examples/sofapython3/TriangularShellForceField.py b/examples/sofapython3/TriangularShellForceField.py
new file mode 100644
index 0000000..fb95a3c
--- /dev/null
+++ b/examples/sofapython3/TriangularShellForceField.py
@@ -0,0 +1,43 @@
+def createScene(rootNode):
+
+    rootNode.addObject('RequiredPlugin', name="Shell")
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective') # Needed to use components [FixedProjectiveConstraint]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshOBJLoader]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [IdentityMapping]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D') # Needed to use components [OglModel]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.GUI.Component') # Needed to use components [AttachBodyButtonSetting]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [GenericConstraintCorrection]  
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver]  
+    rootNode.gravity = [0, -98.1, 0]
+    rootNode.addObject('AttachBodyButtonSetting', stiffness=0.1)
+    rootNode.addObject('DefaultAnimationLoop')
+    #rootNode.addObject('FreeMotionAnimationLoop')
+    #rootNode.addObject('GenericConstraintSolver', maxIterations=1e3, tolerance=1e-3)
+
+    square = rootNode.addChild('Square')
+    square.addObject('EulerImplicitSolver')
+    square.addObject('SparseLDLSolver')
+    #square.addObject('GenericConstraintCorrection')
+    square.addObject('MeshOBJLoader', filename='mesh/square1.obj')
+    square.addObject('MeshTopology', src=square.MeshOBJLoader.getLinkPath())
+    square.addObject('MechanicalObject', template='Rigid3', showObject=1)
+    square.addObject('UniformMass', totalMass=0.005)
+    square.addObject('BoxROI', box=[0, 0.9, -0.1, 1, 1, 0.1], drawBoxes=True)
+    square.addObject('FixedProjectiveConstraint', indices=square.BoxROI.indices.getLinkPath())
+    square.addObject('TriangularShellForceField', youngModulus=1.7e3, poissonRatio=0.3,
+                      thickness=0.05, measure="Von Mises stress", arrow_radius="0")
+    
+    visu = square.addChild('Visu')
+    visu.addObject('OglModel', src=square.MeshTopology.getLinkPath())
+    visu.addObject('IdentityMapping')
+
+
+
+#pluginList=['SofaEngine', 'SofaLoader', 'SofaSimpleFem','SofaExporter', 'SofaPython3', 'SofaShells']
\ No newline at end of file
diff --git a/examples/xml/MeshGID.scn b/examples/xml/MeshGID.scn
new file mode 100644
index 0000000..e95fdc9
--- /dev/null
+++ b/examples/xml/MeshGID.scn
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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.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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+		<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->  
+		<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+		<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+		<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] --> 
+		<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+		<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] --> 
+    </Node>
+
+	<VisualStyle displayFlags ="showBehaviorModels showForceFields showVisualModels"/>
+	<DefaultAnimationLoop/>
+	<CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+	
+	<Node name="Meshtest" >
+		<EulerImplicitSolver />
+		<CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+		<include href="Mesh_test.xml" filename="Mesh_test.xml" src="@tetras" />
+		<MechanicalObject name="tetras" showIndices="false" showIndicesScale="0.0007"/>
+		<UniformMass showAxisSizeFactor="0.00001" totalMass="1" />
+		
+		<TetrahedronFEMForceField name="FEM" youngModulus="2870" poissonRatio="0.45" method="large" drawHeterogeneousTetra="0" />
+		<Node name="Visual">
+			<OglModel name="Visual" color="green"/>
+            <IdentityMapping input="@.." output="@Visual"/>
+		</Node>
+	</Node>
+	
+	
+	
+		
+</Node>
diff --git a/examples/xml/MeshInterpolator.scn b/examples/xml/MeshInterpolator.scn
new file mode 100644
index 0000000..6708bc2
--- /dev/null
+++ b/examples/xml/MeshInterpolator.scn
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <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 [MeshOBJLoader] -->  
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms,TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] --> 
+        
+    </Node>
+
+	<VisualStyle displayFlags ="showBehaviorModels showForceFields showVisualModels"/>
+	<DefaultAnimationLoop/>
+	<CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+
+
+    <Node name="MeshInterpolator">
+        <!-- Starting mesh -->
+        <Node name="m1">
+            <MeshOBJLoader name="m1" filename="../../../Shell/mesh/transform-cube.obj" />
+            <!-- Visualisation -->
+            <TriangleSetTopologyContainer src="@m1" />
+            <MechanicalObject />
+            <TriangleSetGeometryAlgorithms drawEdges="true" drawColorEdges="0.2 0.2 0.2" />
+        </Node>
+
+        <!-- Final mesh -->
+        <Node name="m2">
+            <MeshOBJLoader name="m2" filename="../../../Shell/mesh/transform-sphere.obj" />
+            <!-- Visualisation -->
+            <TriangleSetTopologyContainer src="@m2" />
+            <MechanicalObject />
+            <TriangleSetGeometryAlgorithms drawEdges="true" drawColorEdges="0.2 0.2 0.2" />
+        </Node>
+        
+        <Node name="simluation" >
+
+            <MeshInterpolator name="interp" startPosition="@m1/m1.position" endPosition="@m2/m2.position"
+                listening="true" startTime="0" nbSteps="10" increment="0.01" />
+
+            <TriangleSetTopologyContainer triangles="@m1/m1.triangles" position="@interp.position" />
+            <MechanicalObject position="@interp.position" />
+
+            <!-- Visualisation -->
+            <Node name="Visual">
+                <OglModel name="Visual" color="green"/>
+                <IdentityMapping input="@.." output="@Visual"/>
+            </Node>
+
+        </Node>
+
+    </Node>
+</Node>
diff --git a/examples/xml/Mesh_test.xml b/examples/xml/Mesh_test.xml
new file mode 100644
index 0000000..b27f7fd
--- /dev/null
+++ b/examples/xml/Mesh_test.xml
@@ -0,0 +1,2654 @@
+<MeshTopology position="
+-1.19657832 4.85470909 10
+-1.77302444 4.67508121 10
+-0.602683401 4.96354437 10
+-1.48536782 4.77427298 9.36879238
+-0.840696367 4.92881625 9.12032615
+-1.23606798 3.80422607 10
+-0.62573786 3.95075336 10
+-2.05053809 4.56018569 9.38497159
+-2.32361586 4.42728013 10
+0 5 10
+-0.863411883 3.90570351 9.11364865
+-1.52846548 3.69645686 9.35650975
+0 5 9.32823909
+-1.815962 3.5640261 10
+0 4 10
+0 4 9.32175108
+-2.61560305 4.26129331 9.48623812
+-1.79182373 4.66790828 8.49274293
+-2.84032373 4.11491933 10
+0.602683402 4.96354437 10
+-2.08874929 3.41132326 9.37236138
+0 5 8.54794639
+-0.852344307 4.92681532 8.10456224
+-2.35114101 3.23606798 10
+-1.66988188 3.63476196 8.46616368
+0.625737861 3.95075336 10
+0 4 8.54680606
+0.744313713 4.94428934 9.28262836
+-0.846614988 3.90937886 8.10833043
+-2.74148864 4.18141603 8.64342548
+-3.08315983 3.9362578 9.40279352
+0.769994475 3.92518898 9.27408442
+-2.6338313 3.01047051 9.498347
+-3.31561329 3.74255374 10
+1.19657832 4.85470909 10
+-2.82842712 2.82842712 10
+0 5 7.66117809
+1.23606798 3.80422607 10
+0 4 7.6698548
+1.48536782 4.77427298 9.36879238
+-3.5776053 3.49295581 9.47075651
+-2.37059974 4.40230131 7.47784858
+-0.962928832 4.90640072 7.16150275
+1.22182999 4.84841536 8.45079231
+-3.00124974 2.64433356 9.4482091
+-2.84640804 2.81033117 8.69864592
+-3.74255374 3.31561329 10
+1.77302444 4.67508121 10
+-0.952604738 3.88491238 7.17764353
+1.52846548 3.69645686 9.35650975
+1.26481556 3.79476503 8.41943963
+-3.74381094 3.31419367 8.75831992
+-3.23606798 2.35114101 10
+-3.90749584 3.11953141 9.51679443
+-2.37595058 3.21789665 7.43600613
+1.815962 3.5640261 10
+2.10569455 4.53498076 9.45748034
+-1.94844436 4.60473285 6.63462561
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+" />
diff --git a/examples/xml/testClampedSquare.scn b/examples/xml/testClampedSquare.scn
new file mode 100644
index 0000000..037d5f1
--- /dev/null
+++ b/examples/xml/testClampedSquare.scn
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.01" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <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] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels hideMappings showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+
+    <Node name="SmallSquare" activated="true">
+        <EulerImplicitSolver/>
+        <!--<StaticSolver/>-->
+        <CGLinearSolver iterations="500" tolerance="1e-15" threshold="1e-15"/>
+<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/square5x5.obj"/>
+        <TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
+        <MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
+
+<!--       <UniformMass mass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->
+
+        <BoxROI name="Side1" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side1.indices" drawSize="0"/>
+        <BoxROI name="Side2" box="-5.1 5.1 -0.1 5.1 4.9 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side2.indices" drawSize="0"/>
+        <BoxROI name="Side3" box="5.1 5.1 -0.1 4.9 -5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side3.indices" drawSize="0"/>
+        <BoxROI name="Side4" box="5.1 -5.1 -0.1 -5.1 -4.9 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@Side4.indices" drawSize="0"/>
+
+        <ConstantForceField indices="0-24" forces="0 0 11.1 0 0 0"/>
+        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.3" thickness="0.1" />
+        
+        
+
+    </Node>
+
+</Node>
diff --git a/examples/xml/testShell6.scn b/examples/xml/testShell6.scn
new file mode 100644
index 0000000..c7c8c5b
--- /dev/null
+++ b/examples/xml/testShell6.scn
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+    
+    <Node name="4triangles">
+        <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
+        <!--<CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+        <Node name="fixed">
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/4triangles.obj"/>
+            <TriangleSetTopologyContainer name="baseTriangles" src="@loader"/>
+            <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007"/>
+            <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2" />
+            <FixedProjectiveConstraint indices="0 2"/>
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+            <ConstantForceField indices="5" forces="0 0 0.05 0 0 0"/>
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.01"/>
+            <Node name="SubTriangles">
+            <TriangleSetTopologyContainer  name="subTriangles"/>
+            <!--<TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>-->
+            <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="true" showIndicesScale="0.0003"/>
+            <!--<ConstantForceField points="5 9" forces="0 0 3"/>-->
+            <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+            <TriangleCollisionModel />
+            <Node name="visual">
+                <OglModel name="Visual" color="red"/>
+                <IdentityMapping input="@../subPoints" output="@Visual"/>
+            </Node>
+        </Node>
+        </Node>
+        
+        
+
+    </Node>
+</Node>
diff --git a/examples/xml/testShell6bis.scn b/examples/xml/testShell6bis.scn
new file mode 100644
index 0000000..fb4e572
--- /dev/null
+++ b/examples/xml/testShell6bis.scn
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->  
+
+    </Node>
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <Node name="4triangles">
+            <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
+            <!--<CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+            <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+            <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+            <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+            <Node name="fixed">
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/4triangles_bis.obj"/>
+            <TriangleSetTopologyContainer name="baseTriangles" src="@loader" />
+            <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="true" showIndicesScale="0.0007"/>
+            <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2"  />
+            <FixedProjectiveConstraint indices="0 2"/>
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+            <ConstantForceField indices="5" forces="0 0 1 0 0 0"/>
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="20000" poissonRatio="0.42" thickness="0.1"/>
+            <Node name="SubTriangles">
+                <TriangleSetTopologyContainer  name="subTriangles"/>
+                <!--<TriangleSubdivisionTopologicalMapping object1="baseTriangles" object2="subTriangles" subdivisions="2"/>-->
+                <MechanicalObject  name="subPoints" topology="@subTriangles" showIndices="true" showIndicesScale="0.0003"/>
+                <!--<ConstantForceField points="5 9" forces="0 0 3"/>-->
+                <BendingPlateMechanicalMapping input="@../tri" output="@subPoints"/>
+                <TriangleCollisionModel />
+                <Node name="visual">
+                    <OglModel name="Visual" color="red"/>
+                    <IdentityMapping input="@../subPoints" output="@Visual"/>
+                </Node>
+            </Node>
+        </Node>
+        
+
+    </Node>
+</Node>
diff --git a/examples/xml/testShell7.scn b/examples/xml/testShell7.scn
new file mode 100644
index 0000000..9c2cc17
--- /dev/null
+++ b/examples/xml/testShell7.scn
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <!--<Node name="pointA">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="0 0 0 0 0 0 1"/>
+    </Node>
+
+    <Node name="pointB">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="1 0 0 0 0 0 1"/>
+    </Node>
+
+    <Node name="pointC">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="2 0 0 0 0 0 1"/>
+   </Node>
+
+   <Node name="pointD">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="3 0 0 0 0 0 1"/>
+   </Node>
+
+    <Node name="pointE">
+       <MechanicalObject template="Rigid3" name="fixedPoint" position="4 0 0 0 0 0 1"/>
+    </Node>-->
+
+    <Node name="7triangles">
+        <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
+<!--        <CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+<!--        <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <Node name="fixed">
+            <MeshOBJLoader name="loader" filename="../../../Shell/mesh/7triangles.obj"/>
+            <TriangleSetTopologyContainer name="baseTriangles" src="@loader"/>
+            <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007"/>
+            <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.2"/>
+            <!--<AttachProjectiveConstraint name="ConstraintA" object2="@tri" object1="@pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintB" object2="@tri" object1="@pointB/fixedPoint" indices1="0" indices2="1" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintC" object2="@tri" object1="@pointC/fixedPoint" indices1="0" indices2="2" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintD" object2="@tri" object1="@pointD/fixedPoint" indices1="0" indices2="3" freeRotations="false" />
+            <AttachProjectiveConstraint name="ConstraintE" object2="@tri" object1="@pointE/fixedPoint" indices1="0" indices2="4" freeRotations="false" />-->
+            <FixedProjectiveConstraint indices="0 1 2 3 4"/>
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+            <ConstantForceField indices="9-11" forces="0 0 5 0 0 0"/>
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.49" thickness="0.1"/>
+            
+        </Node>
+       
+
+    </Node>
+</Node>
diff --git a/examples/xml/testShell7_small_bis.scn b/examples/xml/testShell7_small_bis.scn
new file mode 100644
index 0000000..84fd3e6
--- /dev/null
+++ b/examples/xml/testShell7_small_bis.scn
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.02" gravity="0 0 0">
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->  
+        <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->  
+
+
+    </Node>
+
+    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels" />
+
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <Node name="Rest_position">
+        <MeshOBJLoader name="rest_shape" filename="../../../Shell/mesh/7small_triangles_bis.obj"/>
+        <MeshTopology/>
+        <Vertex2Frame name="RestVertex2Frame" template="Rigid3" position="@rest_shape.position" normals="@rest_shape.normals" />
+<!--        <MechanicalObject name="rest_triangles" template="Rigid3" position="@RestVertex2Frame.frames"/>-->
+<!--        <OglModel name="Visual" color="green"/>-->
+    </Node>
+
+
+    <Node name="7smallTriangles">
+        <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="0.5"/>
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-50"/>
+        <MeshOBJLoader name="loader" filename="../../../Shell/mesh/7small_triangles_bis.obj"/>
+        <TriangleSetTopologyContainer name="baseTriangles" src="@loader" />
+        <MechanicalObject name="tri" template="Rigid3" topology="@baseTriangles" showIndices="false" showIndicesScale="0.0007" rest_position="@../Rest_position/RestVertex2Frame.frames" position="@../Rest_position/RestVertex2Frame.frames"/>
+        <UniformMass vertexMass="0.1 0.1 [ 0.1 0 0 ,  0 0.1 0 ,  0 0 0.05 ]" showAxisSizeFactor="0.0002"  />
+        <FixedProjectiveConstraint indices="0-4"/>
+        <ConstantForceField indices="9-11" forces="-0.00005 0 0 0 0 0"/>
+        <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.0001"/>
+        
+
+    </Node>
+</Node>
diff --git a/examples/xml/testShellClampedSquare.scn b/examples/xml/testShellClampedSquare.scn
new file mode 100644
index 0000000..7451238
--- /dev/null
+++ b/examples/xml/testShellClampedSquare.scn
@@ -0,0 +1,109 @@
+<?xml version="1.0"?>
+<!-- Simulation of plate bending under clamped boundary conditions
+Theoretical results are: alpha = zmax / (qL^4/D) = 0.00126
+This can also be expressed as: zmax = 0.126 * [(qL^4) / 100*D]
+with zmax the max deflection at the center of the plate
+
+Example:
+    v = 0.3 (poisson ratio)
+    E = 1.092e6
+    D = Eh^3 / 12*(1-v^2) = 100
+    L = 10 and h = 0.1 (for a 10x10 plate of thickness 0.1)
+    q = 1 (q is a uniformly distributed load per unit area)
+=> zmax = 0.126 * q
+
+
+Results with bending + in-plane stree:
+    q = 1 => zmax = 0.078
+    q = 2 => zmax = 0.117
+    q = 3 => zmax = 0.146
+    q = 4 => zmax = 0.165
+    q = 5 => zmax = 0.182
+    q = 6 => zmax = 0.197
+    q = 7 => zmax = 0.209
+    q = 8 => zmax = 0.220
+
+Results with bending only and a 9x9 grid:
+    q = 1 => zmax = 0.1218 (should be 0.126)
+    q = 2 => zmax = 0.2475 (should be 0.252)
+    q = 3 => zmax = 0.3747 (should be 0.378)
+    q = 4 => zmax = 0.505 (should be 0.504)
+    q = 5 => zmax = 0.637 (should be 0.630) zmax = 0.644 with an 11x11 grid
+-->
+
+<Node name="root" dt="0.01" gravity="0 0 0">
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <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.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> 
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Quad2TriangleTopologicalMapping] --> 
+
+    </Node>
+
+    <VisualStyle displayFlags ="showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <Node name="Square2" activated="true">
+        <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.5"/>
+        <CGLinearSolver iterations="200" tolerance="1e-15" threshold="1e-15"/>
+        <!--<CGLinearSolver template="FullMatrix" iterations="100" tolerance="1e-15" threshold="1e-15"/>-->
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <!--<RegularGrid name="gridTopo" min="-0.005 -0.002 0" max="0.005 0.002 0" nx="7" ny="3" nz="1" />-->
+        <RegularGridTopology name="gridTopo" min="-5 -5 0" max="5 5 0" nx="3" ny="3" nz="1" />
+        <MechanicalObject name="basePoints" template="Rigid3" />
+        <UniformMass showAxisSizeFactor="1" totalMass="0.00012" />
+
+        <BoxROI name="box1" box="-5.1 -5.1 -0.1 5.1 -4.9 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box1.indices" drawSize="0"/>
+        
+        <BoxROI name="box2" box="-5.1 4.9 -0.1 5.1 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box2.indices" drawSize="0"/>
+        
+        <BoxROI name="box3" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box3.indices" drawSize="0"/>
+        
+        <BoxROI name="box4" box="4.9 -5.1 -0.1 5.1 5.1 0.1" drawSize="0"/>
+        <FixedProjectiveConstraint indices="@box4.indices" drawSize="0"/>
+        
+
+        <Node name="triangles">
+            <TriangleSetTopologyContainer name="trianglesTopo"/>
+            <TriangleSetTopologyModifier name="Modifier" />
+            <Quad2TriangleTopologicalMapping input="@../gridTopo" output="@trianglesTopo" />
+            
+
+            <FixedRotationProjectiveConstraint FixedZRotation="true"/>
+
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.42" thickness="0.001" />
+            <ConstantForceField indices="0 1 2 3 4 5 6 7 8" forces="0 0 0.001 0 0 0"/>
+            
+            
+			
+        </Node>
+    </Node>
+
+</Node>
\ No newline at end of file
diff --git a/examples/xml/testShellFoldingSquare2.scn b/examples/xml/testShellFoldingSquare2.scn
new file mode 100644
index 0000000..833247c
--- /dev/null
+++ b/examples/xml/testShellFoldingSquare2.scn
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<Node name="root" dt="0.01" gravity="0 0 0">
+
+    <Node name="plugins">
+        <RequiredPlugin name="Shell"/>
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <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.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint,FixedRotationProjectiveConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
+        <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.Mass"/> <!-- Needed to use components [UniformMass] -->  
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->  
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->  
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> 
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
+        <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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->  
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Quad2TriangleTopologicalMapping] --> 
+
+    </Node>
+
+    <VisualStyle displayFlags =" showForceFields showVisualModels"/>
+    <DefaultAnimationLoop/>
+    <CollisionPipeline verbose="0"/>
+    <BruteForceBroadPhase name="N2"/>
+    <BVHNarrowPhase/>
+    <CollisionResponse name="Response" response="PenaltyContactForceField"/>
+    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5"/>
+
+    <Node name="Square">
+        <EulerImplicitSolver rayleighMass="1.0" rayleighStiffness="1.0" />
+        <CGLinearSolver iterations="75" tolerance="1e-15" threshold="1e-15"/>
+        <!--<SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
+        <!--<CholeskySolver name="Cholesky Preconditioner" printLog="false" />-->
+        <RegularGridTopology name="gridTopo" min="0 0 0" max="0.01 0.01 0" nx="10" ny="10" nz="1"/>
+        <MechanicalObject template="Rigid3" />
+        <UniformMass vertexMass="0.01 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.005"/>
+
+        <BoxConstraint name="BoxConstraint" box="0.004 0 -0.0001  0.006 0.01 0.0001"/>
+
+        <FixedRotationProjectiveConstraint FixedZRotation="true" />
+
+        <Node name="triangles">
+            <TriangleSetTopologyContainer  name="trianglesTopo"/>
+            <TriangleSetTopologyModifier   name="Modifier" />
+            <Quad2TriangleTopologicalMapping input="@../gridTopo" output="@trianglesTopo" />
+            <MechanicalObject  name="basePoints" template="Rigid3"/>
+            <!--<WriteState filename="FoldingSquare.state" writeX="1" writeV="0"/>-->
+            <IdentityMapping />
+            <TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1e6" poissonRatio="0.42" thickness="0.001" />
+
+            <ConstantForceField indices="0-99" forces="0 0 0.3 0 0 0"/>
+
+            
+
+        </Node>
+
+    </Node>
+
+</Node>
diff --git a/mesh/4triangles.obj b/mesh/4triangles.obj
new file mode 100644
index 0000000..127e17f
--- /dev/null
+++ b/mesh/4triangles.obj
@@ -0,0 +1,10 @@
+v 0.0  1.0  0.0
+v 0.0  0.5  0.0
+v 0.0  0.0  0.0
+v 0.45 0.75 0.0
+v 0.45 0.25 0.0
+v 0.9  0.5  0.0
+f 1 2 4
+f 2 3 5
+f 5 4 2
+f 4 5 6
diff --git a/mesh/4triangles_bis.obj b/mesh/4triangles_bis.obj
new file mode 100644
index 0000000..c49f9d5
--- /dev/null
+++ b/mesh/4triangles_bis.obj
@@ -0,0 +1,10 @@
+v 0.0  0.0  0.0
+v 0.5  0.0  0.0
+v 1.0  0.0  0.0
+v 0.25 0.45 0.0
+v 0.75 0.45 0.0
+v 0.5  0.9  0.0
+f 1 2 4
+f 2 3 5
+f 5 4 2
+f 4 5 6
diff --git a/mesh/7small_triangles_bis.obj b/mesh/7small_triangles_bis.obj
new file mode 100644
index 0000000..b84db29
--- /dev/null
+++ b/mesh/7small_triangles_bis.obj
@@ -0,0 +1,19 @@
+v 0 0 0
+v 0 0 0.001
+v 0 0 0.002
+v 0 0 0.003
+v 0 0 0.004
+v 0 0.0009 0.0005
+v 0 0.0009 0.0015
+v 0 0.0009 0.0025
+v 0 0.0009 0.0035
+v 0 0.0018 0.001
+v 0 0.0018 0.002
+v 0 0.0018 0.003
+f 1 2 6
+f 2 3 7
+f 3 4 8
+f 4 5 9
+f 6 7 10
+f 7 8 11
+f 8 9 12
\ No newline at end of file
diff --git a/mesh/7triangles.obj b/mesh/7triangles.obj
new file mode 100644
index 0000000..4e4bfdb
--- /dev/null
+++ b/mesh/7triangles.obj
@@ -0,0 +1,19 @@
+v 0 0 0
+v 1 0 0
+v 2 0 0
+v 3 0 0
+v 4 0 0
+v 0.5 0.9 0
+v 1.5 0.9 0
+v 2.5 0.9 0
+v 3.5 0.9 0
+v 1 1.8 0
+v 2 1.8 0
+v 3 1.8 0
+f 1 2 6
+f 2 3 7
+f 3 4 8
+f 4 5 9
+f 6 7 10
+f 7 8 11
+f 8 9 12
\ No newline at end of file
diff --git a/mesh/square5x5.obj b/mesh/square5x5.obj
new file mode 100644
index 0000000..1bdd4f3
--- /dev/null
+++ b/mesh/square5x5.obj
@@ -0,0 +1,86 @@
+# Generated from SOFA Simulation
+mtllib toCreateSquareObj_00000.mtl
+g 1_default8
+usemtl mat1
+v -5.000000 -5.000000 0.000000
+v -2.500000 -5.000000 0.000000
+v 0.000000 -5.000000 0.000000
+v 2.500000 -5.000000 0.000000
+v 5.000000 -5.000000 0.000000
+v -5.000000 -2.500000 0.000000
+v -2.500000 -2.500000 0.000000
+v 0.000000 -2.500000 0.000000
+v 2.500000 -2.500000 0.000000
+v 5.000000 -2.500000 0.000000
+v -5.000000 0.000000 0.000000
+v -2.500000 0.000000 0.000000
+v 0.000000 0.000000 0.000000
+v 2.500000 0.000000 0.000000
+v 5.000000 0.000000 0.000000
+v -5.000000 2.500000 0.000000
+v -2.500000 2.500000 0.000000
+v 0.000000 2.500000 0.000000
+v 2.500000 2.500000 0.000000
+v 5.000000 2.500000 0.000000
+v -5.000000 5.000000 0.000000
+v -2.500000 5.000000 0.000000
+v 0.000000 5.000000 0.000000
+v 2.500000 5.000000 0.000000
+v 5.000000 5.000000 0.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+vn 0.000000 0.000000 1.000000
+f 2//2 7//7 1//1
+f 6//6 1//1 7//7
+f 2//2 3//3 7//7
+f 8//8 7//7 3//3
+f 4//4 9//9 3//3
+f 8//8 3//3 9//9
+f 4//4 5//5 9//9
+f 10//10 9//9 5//5
+f 6//6 7//7 11//11
+f 12//12 11//11 7//7
+f 8//8 13//13 7//7
+f 12//12 7//7 13//13
+f 8//8 9//9 13//13
+f 14//14 13//13 9//9
+f 10//10 15//15 9//9
+f 14//14 9//9 15//15
+f 12//12 17//17 11//11
+f 16//16 11//11 17//17
+f 12//12 13//13 17//17
+f 18//18 17//17 13//13
+f 14//14 19//19 13//13
+f 18//18 13//13 19//19
+f 14//14 15//15 19//19
+f 20//20 19//19 15//15
+f 16//16 17//17 21//21
+f 22//22 21//21 17//17
+f 18//18 23//23 17//17
+f 22//22 17//17 23//23
+f 18//18 19//19 23//23
+f 24//24 23//23 19//19
+f 20//20 25//25 19//19
+f 24//24 19//19 25//25

From 75e74e07e4705f9fb14a80568cbcafd3b0f13005 Mon Sep 17 00:00:00 2001
From: Lucas Burel <lucasbureltojo@gmail.com>
Date: Mon, 23 Jun 2025 16:47:38 +0200
Subject: [PATCH 2/6] add mesh

---
 mesh/transform-cube.obj   | 4634 ++++++++++++++++++++++
 mesh/transform-sphere.obj | 7686 +++++++++++++++++++++++++++++++++++++
 2 files changed, 12320 insertions(+)
 create mode 100644 mesh/transform-cube.obj
 create mode 100644 mesh/transform-sphere.obj

diff --git a/mesh/transform-cube.obj b/mesh/transform-cube.obj
new file mode 100644
index 0000000..6978bb2
--- /dev/null
+++ b/mesh/transform-cube.obj
@@ -0,0 +1,4634 @@
+# Blender3D v249 OBJ File: 
+# www.blender3d.org
+v 1.000000 -1.000000 -1.000000
+v 1.000000 -1.000000 1.000000
+v -1.000000 -1.000000 1.000000
+v -1.000000 -1.000000 -1.000000
+v 1.000000 1.000000 -1.000000
+v 0.999999 1.000000 1.000001
+v -1.000000 1.000000 1.000000
+v -1.000000 1.000000 -1.000000
+v 0.000000 -1.000000 1.000000
+v 1.000000 -1.000000 0.000000
+v 0.000000 -1.000000 -1.000000
+v -1.000000 -1.000000 -0.000000
+v 1.000000 1.000000 0.000000
+v -0.000001 1.000000 1.000000
+v -1.000000 1.000000 -0.000000
+v 0.000000 1.000000 -1.000000
+v 1.000000 0.000000 1.000000
+v 1.000000 -0.000000 -1.000000
+v -1.000000 0.000000 1.000000
+v -1.000000 -0.000000 -1.000000
+v 0.000000 -1.000000 -0.000000
+v -0.000000 1.000000 0.000000
+v 1.000000 0.000000 0.000000
+v -0.000000 0.000000 1.000000
+v -1.000000 -0.000000 -0.000000
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diff --git a/mesh/transform-sphere.obj b/mesh/transform-sphere.obj
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--- /dev/null
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From 68adfec465a32279665971557b6bf023ed927161 Mon Sep 17 00:00:00 2001
From: Lucas-TJ <lucasbureltojo@gmail.com>
Date: Mon, 23 Jun 2025 16:49:43 +0200
Subject: [PATCH 3/6] Rename testShell6.scn to testShell2.scn

---
 examples/xml/{testShell6.scn => testShell2.scn} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename examples/xml/{testShell6.scn => testShell2.scn} (100%)

diff --git a/examples/xml/testShell6.scn b/examples/xml/testShell2.scn
similarity index 100%
rename from examples/xml/testShell6.scn
rename to examples/xml/testShell2.scn

From ed729add226fbb633192a531e50f13c17298f38f Mon Sep 17 00:00:00 2001
From: Lucas-TJ <lucasbureltojo@gmail.com>
Date: Mon, 23 Jun 2025 16:49:59 +0200
Subject: [PATCH 4/6] Rename testShell6bis.scn to testShell2bis.scn

---
 examples/xml/{testShell6bis.scn => testShell2bis.scn} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename examples/xml/{testShell6bis.scn => testShell2bis.scn} (100%)

diff --git a/examples/xml/testShell6bis.scn b/examples/xml/testShell2bis.scn
similarity index 100%
rename from examples/xml/testShell6bis.scn
rename to examples/xml/testShell2bis.scn

From 0a6bc153f5ab8cb860de9c2726e41476d9b79528 Mon Sep 17 00:00:00 2001
From: Lucas-TJ <lucasbureltojo@gmail.com>
Date: Mon, 23 Jun 2025 16:50:11 +0200
Subject: [PATCH 5/6] Rename testShell7.scn to testShell3.scn

---
 examples/xml/{testShell7.scn => testShell3.scn} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename examples/xml/{testShell7.scn => testShell3.scn} (100%)

diff --git a/examples/xml/testShell7.scn b/examples/xml/testShell3.scn
similarity index 100%
rename from examples/xml/testShell7.scn
rename to examples/xml/testShell3.scn

From d14bc7b18723e82a1c1c8c0009c51bb422c45b79 Mon Sep 17 00:00:00 2001
From: Lucas-TJ <lucasbureltojo@gmail.com>
Date: Mon, 23 Jun 2025 16:50:22 +0200
Subject: [PATCH 6/6] Rename testShell7_small_bis.scn to
 testShell3_small_bis.scn

---
 .../xml/{testShell7_small_bis.scn => testShell3_small_bis.scn}    | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename examples/xml/{testShell7_small_bis.scn => testShell3_small_bis.scn} (100%)

diff --git a/examples/xml/testShell7_small_bis.scn b/examples/xml/testShell3_small_bis.scn
similarity index 100%
rename from examples/xml/testShell7_small_bis.scn
rename to examples/xml/testShell3_small_bis.scn