<?xml version="1.0" encoding="UTF-8"?>
<system xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="description.xsd">
    
	<per-triangle-shape name="VirtualGround">
		<margin>1</margin>
		<prenetration>5</prenetration>
		<tag>ground</tag>
	</per-triangle-shape>

    <bone name="NPC L RearCalf [LrClf]"/>
	<bone name="NPC R RearCalf [RrClf]"/>
	<bone name="NPC L Calf [LClf]"/>
	<bone name="NPC R Calf [RClf]"/>
	<bone name="NPC L Thigh [LThg]"/>
	<bone name="NPC R Thigh [RThg]"/>
	<bone name="NPC Pelvis [Pelv]"/>
	<bone name="NPC Spine [Spn0]"/>
	<bone name="NPC Spine1 [Spn1]"/>
	<bone name="NPC Spine2 [Spn2]"/>
	<bone name="NPC L FrontThigh"/>
	<bone name="NPC R FrontThigh"/>
	<bone name="NPC L RearThigh"/>
	<bone name="NPC R RearThigh"/>
	<bone name="NPC L Foot [Lft ]"/>
    <bone name="NPC R Foot [Rft ]"/>
	<bone name="NPC R Toe0 [RToe]"/>
	<bone name="NPC L Toe0 [LToe]"/>
	<bone name="NPC L Butt"/>
	<bone name="NPC R Butt"/>
	<bone name="NPC Belly"/>
	<bone name="af00"/>
	

    <bone-default>
		<mass>0.1</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>0.85</linearDamping>
		<angularDamping>0.85</angularDamping>
		<friction>0</friction>
		<restitution>1</restitution>		
	</bone-default>	
	
	<bone name="af01"/>
	<bone name="af02"/>
	<bone name="af03"/>
	<bone name="af04"/>
	<bone name="af05"/>
	<bone name="af06"/>
	<bone name="af07"/>
	<bone name="af08"/>
	
	
	<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="-0.0" y="-0.0" z="-0.0" />
		<linearUpperLimit x="0.0" y="0.0" z="0.0" />
		<angularLowerLimit x="-0.01" y="-0.01" z="-0.01" />
		<angularUpperLimit x="0.01" y="0.01" z="0.01" />
		<linearStiffness x="0" y="0" z="0" />
		<angularStiffness x="0" y="0" z="0" />
		<linearDamping x="0" y="0" z="0" />
		<angularDamping x="0" y="0" z="0" />
		<linearEquilibrium x="0" y="0" z="0" />
		<angularEquilibrium x="0" y="0" z="0" />
	</generic-constraint-default>
	
	<generic-constraint bodyA="af01" bodyB="af00"/>
	<generic-constraint bodyA="af02" bodyB="af01"/>
	
	<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="-0.0" y="-0.0" z="-0.0" />
		<linearUpperLimit x="0.0" y="0.0" z="0.0" />
		<angularLowerLimit x="-0.02" y="-0.02" z="-0.02" />
		<angularUpperLimit x="0.02" y="0.02" z="0.02" />
		<linearStiffness x="0" y="0" z="0" />
		<angularStiffness x="100" y="100" z="100" />
		<linearDamping x="0" y="0" z="0" />
		<angularDamping x="0" y="0" z="0" />
		<linearEquilibrium x="0" y="0" z="0" />
		<angularEquilibrium x="0" y="0" z="0" />
	</generic-constraint-default>	
	
	<generic-constraint bodyA="af03" bodyB="af02"/>
	<generic-constraint bodyA="af04" bodyB="af03"/>
	<generic-constraint bodyA="af05" bodyB="af04"/>
	<generic-constraint bodyA="af06" bodyB="af05"/>
	<generic-constraint bodyA="af07" bodyB="af06"/>
	<generic-constraint bodyA="af08" bodyB="af07"/>	
	
	<per-vertex-shape name="5">		
		<margin>0.1</margin>
		<prenetration>0.5</prenetration>
		<shared>private</shared>
		<tag>Tail</tag>
		<no-collide-with-tag>Tail</no-collide-with-tag>
		<can-collide-with-tag>body</can-collide-with-tag>
		<can-collide-with-tag>ground</can-collide-with-tag>
		<weight-threshold bone="af01">0.5</weight-threshold>
		<weight-threshold bone="af02">0.5</weight-threshold>
		<weight-threshold bone="af03">0.5</weight-threshold>
	</per-vertex-shape>

    <per-triangle-shape name="VirtualBody">
		<margin>0.1</margin>
		<prenetration>0.5</prenetration>
		<shared>private</shared>
		<tag>body</tag>		
		<can-collide-with-tag>Tail</can-collide-with-tag>
    </per-triangle-shape>

</system>