<?xml version="1.0" encoding="UTF-8"?>
<system xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="description.xsd">

    <bone name="NPC Spine [Spn0]"/>
	<bone name="NPC Spine2 [Spn2]"/>
	<bone name="NPC Spine1 [Spn1]"/>
	<bone name="NPC Pelvis [Pelv]"/>
	<bone name="NPC Head [Head]"/>
	<bone name="NPC COM [COM ]"/>
    <bone name="d01"/>
	<bone name="m01"/>
	

    <bone-default>
		<mass>1</mass>
		<inertia x="5" y="5" z="5" />
		<centerOfMassTransform>
			<basis x="0" y="0" z="0" w="1" />
			<origin x="0" y="0" z="0" />
		</centerOfMassTransform>
		<linearDamping>0.8</linearDamping>
		<angularDamping>0.8</angularDamping>
		<friction>0</friction>
		<restitution>0</restitution>		
	</bone-default>
   
    
	<bone name="d02"/>
	<bone name="d03"/>
	<bone name="m02"/>
	<bone name="m03"/>
	
	<generic-constraint-default>
		<frameInB>
			<basis x="0" y="0" z="0" w="1"/>
			<origin x="0" y="0" z="0"/>
		</frameInB>
    <useLinearReferenceFrameA>false</useLinearReferenceFrameA>
		<linearLowerLimit x="-0" y="-0" z="-0"/>
		<linearUpperLimit x="-0" y="-0" z="-0"/>
		<angularLowerLimit x="-0.5" y="-0.5" z="-0.5"/>
		<angularUpperLimit x="0.5" y="0.5" z="0.5"/>
		<linearStiffness x="250" y="250" z="250"/>
		<angularStiffness x="200" y="200" z="200"/>
		<linearDamping x="0" y="0" z="0"/>
		<angularDamping x="10" y="10" z="10"/>
		<linearEquilibrium x="0" y="0" z="0"/>
		<angularEquilibrium x="0" y="0" z="0"/>
	</generic-constraint-default>	
	
	<generic-constraint bodyA="d02" bodyB="d01"/>	
	<generic-constraint bodyA="d03" bodyB="d02"/>
	<generic-constraint bodyA="m02" bodyB="m01"/>
	<generic-constraint bodyA="m03" bodyB="m02"/>
	
	 <generic-constraint-default>
		<frameInB>
			<basis x="0" y="0" z="0" w="1"/>
			<origin x="0" y="0" z="0"/>
		</frameInB>
    <useLinearReferenceFrameA>false</useLinearReferenceFrameA>
		<linearLowerLimit x="-0" y="-0" z="-0"/>
		<linearUpperLimit x="-0" y="-0" z="-0"/>
		<angularLowerLimit x="-1" y="-1" z="-1"/>
		<angularUpperLimit x="1" y="1" z="1"/>
		<linearStiffness x="250" y="250" z="250"/>
		<angularStiffness x="200" y="200" z="200"/>
		<linearDamping x="0" y="0" z="0"/>
		<angularDamping x="10" y="10" z="10"/>
		<linearEquilibrium x="0" y="0" z="0"/>
		<angularEquilibrium x="0" y="0" z="0"/>
	</generic-constraint-default>	
	
	<generic-constraint bodyA="d03" bodyB="d02"/>
	

    <per-triangle-shape name="Dildo">
		<margin>0.01</margin>
		<prenetration>0.01</prenetration>
		<shared>private</shared>
		<tag>Dildo</tag>
	<no-collide-with-bone>m01</no-collide-with-bone>    		
	<no-collide-with-bone>d01</no-collide-with-bone>
	<no-collide-with-tag>Dildo</no-collide-with-tag>
    
	</per-triangle-shape>
	
	
</system>