{
    "max_iterations": 600,
    "timestep_size": 0.1,
    "scene_type": "volume_rb_problem",
    "ncp_solver": {
        "max_iterations": 1000,
        "do_line_search": false,
        "solve_for_active_cstr": false,
        "convergence_tolerance": -1,
        "update_type": "linearized",
        "lcp_solver": "lcp_gauss_seidel"
    },
    "volume_constraint": {
        "detection_method": "hash_grid",
        "volume_epsilon": 1e-10,
        "custom_hashgrid_cellsize": -1
    },
    "rigid_body_problem": {
        "gravity": [
            0.0,
            0.0
        ],
        "collision_eps": 0.0,
        "rigid_bodies": [
            {
                "vertices": [
                    [
                        -5,
                        20
                    ],
                    [
                        -5,
                        22
                    ],
                    [
                        5,
                        22
                    ],
                    [
                        5,
                        20
                    ]
                ],
                "is_dof_fixed": [
                    false,
                    false,
                    false
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        1,
                        2
                    ],
                    [
                        2,
                        3
                    ],
                    [
                        3,
                        0
                    ]
                ],
                "linear_velocity": [
                    0.0,
                    -0.5
                ],
                "angular_velocity": [
                    0.0
                ]
            },
            {
                "vertices": [
                    [
                        -10,
                        11
                    ],
                    [
                        -10,
                        12
                    ],
                    [
                        10,
                        12
                    ],
                    [
                        10,
                        11
                    ]
                ],
                "is_dof_fixed": [
                    false,
                    false,
                    false
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        1,
                        2
                    ],
                    [
                        2,
                        3
                    ],
                    [
                        3,
                        0
                    ]
                ],
                "linear_velocity": [
                    0.0,
                    0.0
                ],
                "angular_velocity": [
                    0.0
                ]
            }
        ]
    }
}