{
    "scene_type": "volume_rb_problem",
    "max_iterations": 3000,
    "timestep_size": 0.01,
    "distance_barrier_constraint": {
        "custom_initial_epsilon": 0.1,
        "detection_method": "hash_grid",
        "active_constraint_scale": 1.01
    },
    "barrier_solver": {
        "e_b": 1e-06,
        "m": 1,
        "t_init": 100,
        "t_inc": 100,
        "c": 0.1,
        "inner_solver": "newton_solver"
    },
    "rigid_body_problem": {
        "gravity": [
            0,
            -3.0,
            0
        ],
        "coefficient_restitution": 1,
        "rigid_bodies": [
            {
                "vertices": [
                    [
                        -1,
                        -1
                    ],
                    [
                        1,
                        -1
                    ],
                    [
                        1,
                        1
                    ],
                    [
                        -1,
                        1
                    ]
                ],
                "polygons": [
                    [
                        [
                            -1,
                            -1
                        ],
                        [
                            1,
                            -1
                        ],
                        [
                            1,
                            1
                        ],
                        [
                            -1,
                            1
                        ]
                    ]
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        1,
                        2
                    ],
                    [
                        2,
                        3
                    ],
                    [
                        3,
                        0
                    ]
                ],
                "oriented": true,
                "position": [
                    -10,
                    10
                ],
                "theta": 45,
                "velocity": [
                    1.0,
                    0.0,
                    0.0
                ],
                "is_dof_fixed": [
                    false,
                    false,
                    false
                ],
                "masses": [
                    0.25,
                    0.25,
                    0.25,
                    0.25
                ],
                "density": 0.5
            },
            {
                "vertices": [
                    [
                        -10,
                        0
                    ],
                    [
                        10,
                        0
                    ],
                    [
                        10,
                        1
                    ],
                    [
                        -10,
                        1
                    ]
                ],
                "polygons": [
                    [
                        [
                            -10,
                            0
                        ],
                        [
                            10,
                            0
                        ],
                        [
                            10,
                            1
                        ],
                        [
                            -10,
                            1
                        ]
                    ]
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        1,
                        2
                    ],
                    [
                        2,
                        3
                    ],
                    [
                        3,
                        0
                    ]
                ],
                "oriented": true,
                "position": [
                    0,
                    0
                ],
                "velocity": [
                    0.0,
                    0.0,
                    0.0
                ],
                "is_dof_fixed": [
                    true,
                    true,
                    true
                ]
            }
        ]
    },
    "ncp_solver": {
        "max_iterations": 1000,
        "do_line_search": false,
        "solve_for_active_cstr": true,
        "convergence_tolerance": -1,
        "update_type": "g_gradient",
        "lcp_solver": "lcp_newton"
    },
    "volume_constraint": {
        "detection_method": "hash_grid",
        "volume_epsilon": 1e-10,
        "custom_hashgrid_cellsize": -1,
        "time_epsilon": 0.0001
    }
}