/**
     * @brief Create the physical model
     *
     * @param m Mass of the particle
     * @param s Stiffness of the spring
     * @param d Damping ratio of the spring
     * @param xx0 initial position
     * @param vv0 initial velocity
     */
    void setup(
            SReal m, SReal s, SReal d,
            SReal xx0, SReal vv0
            )
    {
        mass = m;
        stiffness = s;
        damping = d;
        x0=xx0; v0=vv0;

        node = clearScene();
        node->setGravity( Vec3(0,0,0) );

        // The oscillator
        simulation::Node::SPtr oscillator = node->createChild("oscillator");

        DOF = addNew<MechanicalObject1>(oscillator,"DOF");
        DOF->resize(1);
        DOF->writePositions()[0]  = Vec1(x0);
        DOF->writeVelocities()[0] = Vec1(v0);

        UniformMass1::SPtr Mass = addNew<UniformMass1>(oscillator,"mass");
        Mass->mass.setValue( mass );

        compliance = addNew<UniformCompliance1>(oscillator,"compliance");
        compliance->isCompliance.setValue(false);
        compliance->compliance.setValue(1.0/stiffness);
        compliance->damping.setValue(damping);
    }
	 // Load the scene BezierTetrahedronTopology.sc from the Scenes directory
    void createScene()
    {
		// GenerateCylinder object
        typename sofa::component::engine::GenerateCylinder<DataTypes>::SPtr eng= sofa::modeling::addNew<sofa::component::engine::GenerateCylinder<DataTypes> >(root,"cylinder");
		eng->f_radius=0.2;
		eng->f_height=1.0;
		// TetrahedronSetTopologyContainer object
		sofa::component::topology::TetrahedronSetTopologyContainer::SPtr container1= sofa::modeling::addNew<sofa::component::topology::TetrahedronSetTopologyContainer>(root,"Container1");
		sofa::modeling::setDataLink(&eng->f_tetrahedra,&container1->d_tetrahedron);
		sofa::modeling::setDataLink(&eng->f_outputTetrahedraPositions,&container1->d_initPoints);
		// TetrahedronSetGeometryAlgorithms object
        typename sofa::component::topology::TetrahedronSetGeometryAlgorithms<DataTypes>::SPtr geo1= sofa::modeling::addNew<sofa::component::topology::TetrahedronSetGeometryAlgorithms<DataTypes> >(root);
		// mechanicalObject object
        typename MechanicalObject::SPtr meca1= sofa::modeling::addNew<MechanicalObject>(root);
		sofa::modeling::setDataLink(&eng->f_outputTetrahedraPositions,&meca1->x);
		// subnode
	    simulation::Node::SPtr bezierNode = root->createChild("BezierTetrahedronTopology");
		// BezierTetrahedronSetTopologyContainer
		sofa::component::topology::BezierTetrahedronSetTopologyContainer::SPtr container2= sofa::modeling::addNew<sofa::component::topology::BezierTetrahedronSetTopologyContainer>(bezierNode,"Container2");
		// Mesh2BezierTopologicalMapping
		sofa::component::topology::Mesh2BezierTopologicalMapping::SPtr mapping= sofa::modeling::addNew<sofa::component::topology::Mesh2BezierTopologicalMapping>(bezierNode,"Mapping");
		mapping->setTopologies(container1.get(),container2.get());
		mapping->bezierTetrahedronDegree=3;
		// mechanicalObject object
        typename MechanicalObject::SPtr meca2= sofa::modeling::addNew<MechanicalObject>(bezierNode,"BezierMechanicalObject");
		// BezierTetrahedronSetGeometryAlgorithms
        typename sofa::component::topology::BezierTetrahedronSetGeometryAlgorithms<DataTypes>::SPtr geo2= sofa::modeling::addNew<sofa::component::topology::BezierTetrahedronSetGeometryAlgorithms<DataTypes> >(bezierNode);
		// MeshMatrixMass
        typename MeshMatrixMass::SPtr mass= sofa::modeling::addNew<MeshMatrixMass >(bezierNode,"BezierMass");
		mass->m_massDensity=1.0;
		mass->d_integrationMethod.setValue(std::string("analytical"));
	}