{ "scene_type": "distance_barrier_rb_problem", "max_iterations": 1000, "timestep": 0.01, "distance_barrier_constraint": { "initial_barrier_activation_distance": 0.01, "detection_method": "hash_grid" }, "homotopy_solver": { "e_b": 1e-06, "m": 1, "t_init": 100, "t_inc": 100, "c": 0.1, "inner_solver": "newton_solver" }, "rigid_body_problem": { "gravity": [ 0.0, 0.0 ], "coefficient_restitution": 1, "rigid_bodies": [{ "vertices": [ [ 5.5, -4.8 ], [ -4.1, -4.8 ], [ -4.1, 4.8 ], [ 5.5, 4.8 ], [ 5.6, 4.8999999999999995 ], [ -4.199999999999999, 4.8999999999999995 ], [ -4.199999999999999, -4.8999999999999995 ], [ 5.6, -4.8999999999999995 ] ], "polygons": [ [ [ 5.6, 4.8999999999999995 ], [ -4.199999999999999, 4.8999999999999995 ], [ -4.1, 4.8 ], [ 5.5, 4.8 ] ], [ [ -4.199999999999999, 4.8999999999999995 ], [ -4.199999999999999, -4.8999999999999995 ], [ -4.1, -4.8 ], [ -4.1, 4.8 ] ], [ [ -4.199999999999999, -4.8999999999999995 ], [ 5.6, -4.8999999999999995 ], [ 5.5, -4.8 ], [ -4.1, -4.8 ] ], [ [ 5.6, -4.8999999999999995 ], [ 5.6, 4.8999999999999995 ], [ 5.5, 4.8 ], [ 5.5, -4.8 ] ] ], "oriented": true, "is_dof_fixed": [ true, true, true ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 0 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 4 ] ], "linear_velocity": [ 0.0, 0.0 ], "angular_velocity": [ 0.0 ] }, { "vertices": [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ] ], "oriented": true, "is_dof_fixed": [ false, false, false ], "density": 1.4142135623730954, "position": [ -3, 0.0 ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 4 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 0 ] ], "rotation": [ 0.0 ], "linear_velocity": [ 10.0, 0 ], "angular_velocity": [ 0 ] }, { "vertices": [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ] ], "oriented": true, "is_dof_fixed": [ false, false, false ], "density": 1.4142135623730954, "position": [ 0.0, 0.0 ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 4 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 0 ] ], "rotation": [ 22.5 ], "linear_velocity": [ 0.0, 0 ], "angular_velocity": [ 0 ] }, { "vertices": [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ] ], "oriented": true, "is_dof_fixed": [ false, false, false ], "density": 1.4142135623730954, "position": [ 1.1, 0.0 ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 4 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 0 ] ], "rotation": [ 0.0 ], "linear_velocity": [ 0.0, 0 ], "angular_velocity": [ 0 ] }, { "vertices": [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ] ], "oriented": true, "is_dof_fixed": [ false, false, false ], "density": 1.4142135623730954, "position": [ 2.2, 0.0 ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 4 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 0 ] ], "rotation": [ 22.5 ], "linear_velocity": [ 0.0, 0 ], "angular_velocity": [ 0 ] }, { "vertices": [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 0.3535533905932738, 0.35355339059327373 ], [ 3.061616997868383e-17, 0.5 ], [ -0.35355339059327373, 0.3535533905932738 ], [ -0.5, 6.123233995736766e-17 ], [ -0.35355339059327384, -0.35355339059327373 ], [ -9.184850993605148e-17, -0.5 ], [ 0.35355339059327373, -0.35355339059327384 ] ] ], "oriented": true, "is_dof_fixed": [ false, false, false ], "density": 1.4142135623730954, "position": [ 3.3000000000000003, 0.0 ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 4 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 0 ] ], "rotation": [ 0.0 ], "linear_velocity": [ 0.0, 0 ], "angular_velocity": [ 0 ] } ] } }