phys-collision 2.0.1-beta.0

{
    "a": {
      "a": [
        0,
        0,
        0
      ],
      "b": [
        3,
        0,
        0
      ],
      "c": [
        3,
        0,
        3
      ]
    },
    "b": {
      "radius": 0.5,
      "half_height": 0.5
    },
    "speculative_margin": 0,
    "offset_b": [
      0.2,
      -0.5,
      0.2
    ],
    "orientation_a": [
      0,
      0,
      0,
      1
    ],
    "orientation_b": [
      0,
      0,
      0,
      1
    ]
  }