mujoco

<mujoco model="Body-Body collisions fromto">
  <option>
    <flag gravity="disable"/>
  </option>

  <worldbody>
    <light pos=".5 0 3"/>
    <light pos="-.5 0 3"/>
    <geom type="plane" size="2 2 .01"/>

    <body name="1" pos="0 0 .3">
      <freejoint/>
      <replicate count="50" offset="0 0 0.01" euler="0 0 25">
        <geom type="capsule" size=".01 .05" pos="0 -.23 -.2" euler="0 84.5 0" rgba="0 0 1 1"/>
      </replicate>
    </body>

    <body name="2" pos=".6 0 .3" euler="0 0 90">
      <freejoint/>
      <replicate count="50" offset="0 0 0.01" euler="0 0 15">
        <geom type="capsule" pos=".025 -.2 -.2" size=".032 .04" euler="-24 -12 2" rgba=".8 0 0 1"/>
      </replicate>
    </body>
  </worldbody>

  <sensor>
    <fromto body1="1" body2="2" cutoff="1"/>
  </sensor>
</mujoco>