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{
"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
}
}