{
    "scene_type": "distance_barrier_rb_problem",
    "max_iterations": 300,
    "timestep": 0.1,
    "distance_barrier_constraint": {
        "initial_barrier_activation_distance": 0.01,
        "detection_method": "hash_grid",
        "use_distance_hashgrid": true
    },
    "homotopy_solver": {
        "e_b": 1e-10,
        "m": 1,
        "t_init": 1,
        "t_inc": 10,
        "c": 0.01,
        "inner_solver": "newton_solver"
    },
    "newton_solver": {
        "max_iterations": 1000
    },
    "rigid_body_problem": {
        "coefficient_restitution": 1.0,
        "gravity": [
            0.0,
            -3.0
        ],
        "rigid_bodies": [{
                "oriented": true,
                "vertices": [
                    [
                        -1,
                        -1
                    ],
                    [
                        1,
                        -1
                    ],
                    [
                        1,
                        1
                    ],
                    [
                        -1,
                        1
                    ]
                ],
                "position": [
                    -10,
                    10
                ],
                "is_dof_fixed": [
                    false,
                    false,
                    false
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        1,
                        2
                    ],
                    [
                        2,
                        3
                    ],
                    [
                        3,
                        0
                    ]
                ],
                "rotation": [
                    45
                ],
                "linear_velocity": [
                    1.0,
                    0.0
                ],
                "angular_velocity": [
                    0.0
                ]
            },
            {
                "oriented": true,
                "vertices": [
                    [
                        -10,
                        0
                    ],
                    [
                        10,
                        0
                    ],
                    [
                        10,
                        1
                    ],
                    [
                        -10,
                        1
                    ]
                ],
                "position": [
                    0,
                    0
                ],
                "is_dof_fixed": [
                    true,
                    true,
                    true
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        1,
                        2
                    ],
                    [
                        2,
                        3
                    ],
                    [
                        3,
                        0
                    ]
                ],
                "linear_velocity": [
                    0.0,
                    0.0
                ],
                "angular_velocity": [
                    0.0
                ]
            }
        ]
    }
}