drake::examples::multibody::bouncing_ball Namespace Reference

Functions
void	PopulateBallPlant (double radius, double mass, double hydroelastic_modulus, double dissipation, const drake::multibody::CoulombFriction< double > &surface_friction, const Vector3< double > &gravity_W, bool rigid_sphere, bool compliant_ground, drake::multibody::MultibodyPlant< double > *plant)
	This function populates the given MultibodyPlant with a model of a ball falling onto a plane. More...

Function Documentation

PopulateBallPlant()

void drake::examples::multibody::bouncing_ball::PopulateBallPlant	(	double	radius,
		double	mass,
		double	hydroelastic_modulus,
		double	dissipation,
		const drake::multibody::CoulombFriction< double > &	surface_friction,
		const Vector3< double > &	gravity_W,
		bool	rigid_sphere,
		bool	compliant_ground,
		drake::multibody::MultibodyPlant< double > *	plant
	)

This function populates the given MultibodyPlant with a model of a ball falling onto a plane.

MultibodyPlant models the contact of the ball with the ground as a perfectly inelastic collision (zero coefficient of restitution), i.e. energy is lost due to the collision.

The hydroelastic compliance type of the ground and ball can be independently configured. Not every compliance configuration is compatible with every contact model; contact between strict hydroelastic contact will fail for two contacting objects with the same compliance type. So, it is important to use the resulting plant with a contact model consistent with the configuration of the ball and ground.

Parameters

[in]	radius	The radius of the ball.
[in]	mass	The mass of the ball.
[in]	hydroelastic_modulus	The modulus of elasticity for the ball. Only used when modeled with the hydroelastic model. See hydroelastic contact parameters documentation for details.
[in]	dissipation	The Hunt & Crossley dissipation constant for the ball. Only used with the hydroelastic model. See hydroelastic contact parameters documentation for details.
[in]	surface_friction	The Coulomb's law coefficients of friction.
[in]	gravity_W	The acceleration of gravity vector, expressed in the world frame W.
[in]	rigid_sphere	If true, the sphere will have a rigid hydroelastic representation (soft otherwise).
[in]	compliant_ground	If 'true', the ground will have a soft hydroelastic representation (rigid otherwise).
[in,out]	plant	A valid pointer to a MultibodyPlant. This function will register geometry for contact modeling.

Precondition

plant is not null, unfinalized, and is registered with a SceneGraph.

Note

The given plant is not finalized. You must call Finalize() on the new model once you are done populating it.