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I remember seeing a number of modded structures, machineries and interactable object in the workshop but the ones that I've seen are mostly repurposing vanilla mesh with custom functionality.
All that I've seen so far is a basic mod when it comes to structures or furnitures. If you're planning on making a building with interactable doors and stairs, I guess you're going to be our pioneer.
If you managed to get it working, I hope you'll consider on writing a guide so that others can learn from your experience. :D
In most cases the collision mesh is defined as a box:
<NxBoxShapeDesc dimensions="3 9.5 2.5">
<localPose>1 0 0 0 1 0 0 0 1 0 0 2.5</localPose>
In some cases (i have seen this with buildings) it is a complex shape presumably derived from a mesh created in a 3D editor, and looks like this:
<NxConvexMeshDesc id="ConvexMesh_0" userProperties="">
<cookedDataSize>892</cookedDataSize>
<cookedData>4E5853014356584D030000000000000049434
I do not know how to create the "cookedData".
To learn how to use xml collision files and 'NxBoxShapeDesc', you'll have to investigate and experiment. Use the FCS to find xml references, make a test mod, copy and edit xml files.
Add rigid bodies to some objects in blender, select box, capsule, convex hull or mesh for the collision shapes and export with file>export>kenshi collision.
You can use this tool to preview mesh and collision files: https://www.lofigames.com/phpBB3/download/file.php?id=5920