pxmlw6n2f/sdformat_for_mpi/sdf/1.6/collision_engine.sdf

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<!-- Collision Engine -->
<element name="collision_engine" required="1">
<description>The collision_engine tag specifies the type and properties of the collision detection engine.</description>
<element name="ode" required="0">
<attribute name="type" type="string" default="__default__" required="0">
<description>The type of the collision detection engine. Current default in ODE is OPCODE.</description>
</attribute>
</element>
<element name="bullet" required="0">
<attribute name="type" type="string" default="__default__" required="0">
<description>The type of the collision detection engine.</description>
</attribute>
</element>
</element> <!-- Collision Engine -->