{ "scene_type": "distance_barrier_rb_problem", "timestep": 0.01, "distance_barrier_constraint": { "initial_barrier_activation_distance": 0.01, "detection_method": "brute_force", "use_distance_hashgrid": true, "custom_hashgrid_cellsize": -1 }, "homotopy_solver": { "min_barrier_epsilon": 0.0001 }, "rigid_body_problem": { "rigid_bodies": [ { "vertices": [ [ -10, 0 ], [ 10, 0 ] ], "is_dof_fixed": [ true, true, true ], "edges": [ [ 0, 1 ] ] }, { "vertices": [ [ 0, 0.1 ], [ 0.5, 1.5 ], [ -0.5, 1.5 ] ], "is_dof_fixed": [ false, false, false ], "edges": [ [ 0, 1 ], [ 0, 2 ] ], "linear_velocity": [ 0.0, -1.0 ], "angular_velocity": [ 0.0 ] } ] } }