Detailed Description

(FUTURE) These properties will be used as defaults when the geometry as added via API calls or parsed from model files doesn't say anything more specific.

See also: Hydroelastic Contact User Guide, Properties for hydroelastic contact, Continuous Approximation of Coulomb Friction.

#include <drake/geometry/scene_graph_config.h>

Public Member Functions
template<typename Archive >
void	Serialize (Archive *a)
	Passes this object to an Archive. More...

void	ValidateOrThrow () const
	Throws if the values are inconsistent. More...

Public Attributes
Hydroelastic Contact Properties
These properties affect hydroelastic contact only. For more detail, including limits of the numeric parameters, See also geometry::AddRigidHydroelasticProperties, geometry::AddCompliantHydroelasticProperties, geometry::AddCompliantHydroelasticPropertiesForHalfSpace. For more context, See also Properties for hydroelastic contact.
std::string	compliance_type {"undefined"}
	There are three valid options for `compliance_type`: More...

std::optional< double >	hydroelastic_modulus {1e7}
	A measure of material stiffness, in units of Pascals. More...

std::optional< double >	resolution_hint {0.5}
	Controls how finely primitive geometries are tessellated, units of meters. More...

std::optional< double >	slab_thickness {10.0}
	For a halfspace, the thickness of compliant material to model, in units of meters. More...

General Contact Properties
These properties affect contact in general. For more detail, including limits of the numeric parameters, See also geometry::AddContactMaterial, multibody::CoulombFriction, mbp_contact_modeling, mbp_dissipation_model.
std::optional< double >	dynamic_friction {0.5}
	To be valid, either both friction values must be populated, or neither. More...

std::optional< double >	static_friction {0.5}

std::optional< double >	hunt_crossley_dissipation
	Controls energy damping from contact, for contact models other than multibody::DiscreteContactApproximation::kSap. More...

std::optional< double >	relaxation_time
	Controls energy damping from contact, only for multibody::DiscreteContactApproximation::kSap. More...

Point Contact Properties
These properties point contact only. For complete descriptions of the numeric parameters, See also geometry::AddContactMaterial.
std::optional< double >	point_stiffness
	A measure of material stiffness, in units of Newtons per meter. More...

Member Function Documentation

◆ Serialize()

void Serialize ( Archive * a )

Passes this object to an Archive.

Refer to YAML Serialization for background.

◆ ValidateOrThrow()

void ValidateOrThrow ( ) const

Throws if the values are inconsistent.

Member Data Documentation

◆ compliance_type

std::string compliance_type {"undefined"}

There are three valid options for compliance_type:

"undefined": hydroelastic contact will not be used.
"rigid": the default hydroelastic compliance type will be rigid; note that rigid-rigid contact is not supported by the hydroelastic contact model, but is supported by point contact (multibody::ContactModel::kPoint or multibody::ContactModel::kHydroelasticWithFallback).
"compliant": the default hydroelastic compliance type will be compliant.

◆ dynamic_friction

std::optional<double> dynamic_friction {0.5}

To be valid, either both friction values must be populated, or neither.

Friction quantities are unitless.

◆ hunt_crossley_dissipation

std::optional<double> hunt_crossley_dissipation

Controls energy damping from contact, for contact models other than multibody::DiscreteContactApproximation::kSap.

Units are seconds per meter.

◆ hydroelastic_modulus

std::optional<double> hydroelastic_modulus {1e7}

A measure of material stiffness, in units of Pascals.

◆ point_stiffness

std::optional<double> point_stiffness

A measure of material stiffness, in units of Newtons per meter.

◆ relaxation_time

std::optional<double> relaxation_time

Controls energy damping from contact, only for multibody::DiscreteContactApproximation::kSap.

Units are seconds.

◆ resolution_hint

std::optional<double> resolution_hint {0.5}

Controls how finely primitive geometries are tessellated, units of meters.

◆ slab_thickness

std::optional<double> slab_thickness {10.0}

For a halfspace, the thickness of compliant material to model, in units of meters.

◆ static_friction

std::optional<double> static_friction {0.5}

See also: dynamic_friction.

The documentation for this struct was generated from the following file:

drake/geometry/scene_graph_config.h