PHSdk{
	CDSphere sphere{
		material = {
			mu = 0.2
			mu0 = 0.5
			e = 0.6
		}
		radius = 0.5
	}
	CDBox bigBox{
		boxsize = 2.0 1.1 0.9
	}
	CDConvexMesh meshFloor{
		vertices = [10 0 10 10 0 -10 -10 0 10   -10   0 -10 10 -10 10  
			10 -10 -10   -10 -10 10   -10 -10 -10  ]
	}
	CDBox smallBox{
		boxsize = 0.5 0.8 0.5
	}	
	PHScene scene1{
		timeStep = 0.01 			//	timeStep
		gravity = 0 -9.8 0  		//	gravity
		numIteration = 15 
		PHSolid soFloor{
			dynamical = false 
			*meshFloor
		}
		PHSolid soBlock1{
			pose = 1.0 0.0 0.0  0.0 0.0 3.0 0.0	#pose{w x y z px py pz}
			*bigBox
		}
		PHSolid soBlock2{
			pose = 0.9 0.2 0.6  0.3 0.0 5.0 0.0	#pose{w x y z px py pz}
			*smallBox
		}
		PHSolid soSphere1{
			pose = 1.0 0.0 0.0  0.0 0.0 7.0 0.0	#pose{w x y z px py pz}
			*sphere
		}
	}
}