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[Ig2_Wall_Polyhedra_PolyhedraGeom(), Ig2_Polyhedra_Polyhedra_PolyhedraGeom(), Ig2_Facet_Polyhedra_PolyhedraGeom()],
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[Ip2_PolyhedraMat_PolyhedraMat_PolyhedraPhys()], # collision "physics"
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#GravityEngine(gravity=(0,0,-9.81)),
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NewtonIntegrator(damping=0.5,gravity=(0,0,-9.81)),