Physics MCP Server

Creates a new physics body (static, dynamic, or kinematic) with specified shape, mass, and initial conditions. Bodies interact via collisions. Args: sim_id: Simulation ID from create_simulation body_id: Unique identifier for this body (user-defined string) body_type: "static", "dynamic", or "kinematic" - static: Never moves (ground, walls) - dynamic: Affected by forces and collisions - kinematic: Moves but not affected by forces (scripted motion) shape: Collider shape: "box", "sphere", "capsule", "cylinder", "plane" size: Shape dimensions: - box: [width, height, depth] - sphere: [radius] - capsule: [half_height, radius] - cylinder: [half_height, radius] - plane: not needed (use normal/offset instead) mass: Mass in kilograms (for dynamic bodies). Default 1.0 normal: Normal vector [x, y, z] for plane shape. Default [0, 1, 0] (upward) offset: Offset along normal for plane. Default 0.0 position: Initial position [x, y, z]. Default [0, 0, 0] orientation: Initial orientation quaternion [x, y, z, w]. Default [0, 0, 0, 1] (identity) velocity: Initial linear velocity [x, y, z]. Default [0, 0, 0] angular_velocity: Initial angular velocity [x, y, z]. Default [0, 0, 0] restitution: Bounciness (0.0 = no bounce, 1.0 = perfect bounce). Default 0.5 friction: Surface friction (0.0 = ice, 1.0 = rubber). Default 0.5 is_sensor: If true, detects collisions but doesn't respond physically. Default false linear_damping: Linear velocity damping (0.0-1.0) - like air resistance. Default 0.0 angular_damping: Angular velocity damping (0.0-1.0) - like rotational friction. Default 0.0 drag_coefficient: Base drag coefficient (Cd) for orientation-dependent drag. Optional drag_area: Reference cross-sectional area (m²) for drag calculation. Optional drag_axis_ratios: Drag variation along body axes [x, y, z]. E.g., [1.0, 0.2, 1.0] for streamlined along Y. Optional fluid_density: Fluid density (kg/m³). Air=1.225, Water=1000. Default 1.225 Returns: body_id (echo of the input ID) Tips for LLMs: - Create ground FIRST: body_type="static", shape="plane", normal=[0, 1, 0] - Box size is full width/height/depth (not half-extents) - Sphere size is [radius] (array with one element) - Quaternions: identity = [0, 0, 0, 1] (no rotation) - Common restitution: steel=0.8, wood=0.5, clay=0.1 - Common friction: ice=0.05, wood=0.4, rubber=1.0 Example: # Add a ground plane await add_rigid_body( sim_id=sim_id, body_id="ground", body_type="static", shape="plane", normal=[0, 1, 0] ) # Add a bouncing ball await add_rigid_body( sim_id=sim_id, body_id="ball", body_type="dynamic", shape="sphere", size=[0.5], # radius = 0.5m mass=1.0, position=[0, 10, 0], restitution=0.7 ) # Add a falling box await add_rigid_body( sim_id=sim_id, body_id="box", body_type="dynamic", shape="box", size=[1.0, 1.0, 1.0], mass=10.0, position=[0.0, 5.0, 0.0] )