Functions
void	AddBallPlateBodies (double radius, double mass, double hydroelastic_modulus, double dissipation, const multibody::CoulombFriction< double > &surface_friction, double resolution_hint_factor, multibody::MultibodyPlant< double > *plant)
	This function modifies a MultibodyPlant by adding a ball falling on a dinner plate. More...

Function Documentation

◆ AddBallPlateBodies()

void drake::examples::ball_plate::AddBallPlateBodies	(	double	radius,
		double	mass,
		double	hydroelastic_modulus,
		double	dissipation,
		const multibody::CoulombFriction< double > &	surface_friction,
		double	resolution_hint_factor,
		multibody::MultibodyPlant< double > *	plant
	)

This function modifies a MultibodyPlant by adding a ball falling on a dinner plate.

The plate and floor are read from sdf files but the ball is constructed programmatically.

Parameters

[in]	radius	The radius (meters) of the ball.
[in]	mass	The mass (kg) of the ball.
[in]	hydroelastic_modulus	The hydroelastic modulus (Pa) of the ball.
[in]	dissipation	The Hunt & Crossley dissipation constant (s/m) for the ball.
[in]	surface_friction	The Coulomb's law coefficients (unitless) of friction of the ball.
[in]	resolution_hint_factor	This scaling factor (unitless) multiplied by the radius of the ball gives the target edge length of the mesh on the surface of the ball. The smaller number gives a finer mesh with more tetrahedral elements.
[in,out]	plant	The bodies will be added here.